open3d 点云外接bbox

点云外接bbox分两种：与坐标轴对齐的bbox，带方向旋转的bbox. 

import open3d as o3d

if __name__ == "__main__":
    # 1. read pcd
    sample_ply_data = o3d.data.PLYPointCloud()
    pcd = o3d.io.read_point_cloud(sample_ply_data.path)
    # Flip it, otherwise the pointcloud will be upside down.
    pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
    print(pcd)

    # 2. AxisAlignedBoundingBox: 与坐标轴对其的bbox
    axis_aligned_bounding_box = pcd.get_axis_aligned_bounding_box()
    axis_aligned_bounding_box.color = (1, 0, 0)

    # 3. OrientedBoundingBox: 与带方向的旋转bbox
    oriented_bounding_box = pcd.get_oriented_bounding_box()
    oriented_bounding_box.color = (0, 1, 0)

    # 4. view
    print(
        "Displaying axis_aligned_bounding_box in red and oriented bounding box in green ..."
    )
    corr = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.5)
    o3d.visualization.draw(
        [pcd, corr, axis_aligned_bounding_box, oriented_bounding_box])