open3d 计算凸包

 计算点云凸包的关键代码：

hull, _ = pcl.compute_convex_hull()  # pcl: PointCloud class; hull: TriangleMesh

import open3d as o3d

if __name__ == "__main__":
    # 1. read triangle mesh
    print("Displaying pointcloud with convex hull ...")
    bunny = o3d.data.BunnyMesh()
    mesh = o3d.io.read_triangle_mesh(bunny.path)

    # 2. compute normal of mesh
    mesh.compute_vertex_normals()

    # 3. 采样10000个点，这10000个点代表了当前的mesh数据
    pcl = mesh.sample_points_poisson_disk(number_of_points=10000)  # PointCloud class

    # 4. compute convex hull of PointCloud
    hull, _ = pcl.compute_convex_hull()  # TriangleMesh
    # 5. view hull
    hull_ls = o3d.geometry.LineSet.create_from_triangle_mesh(hull)  # TriangleMesh to LineSet
    hull_ls.paint_uniform_color((1, 0, 0))
    o3d.visualization.draw([pcl, hull_ls])

兔子的凸包。