Open3D 计算点云包围盒和计算质心

计算点云的轴对齐包围盒

aabb=pcd.get_axis_aligned_bounding_box()

计算点云的有方向的包围盒

obb= pcd.get_oriented_bounding_box()

import open3d as o3d

if __name__ == "__main__":
    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)
    axis_aligned_bounding_box = pcd.get_axis_aligned_bounding_box()
    # 包围盒中心坐标
    [center_x, center_y, center_z] = axis_aligned_bounding_box.get_center()
    # 包围盒8个顶点坐标
    vertices = axis_aligned_bounding_box.get_box_points()
    # 获取边界框在x,y,z维度的范围或者长度
    side = axis_aligned_bounding_box.get_extent()
    axis_aligned_bounding_box.color = (1, 0, 0)
    oriented_bounding_box = pcd.get_oriented_bounding_box()
    # 包围盒中心坐标
    [center_x, center_y, center_z] = axis_aligned_bounding_box.get_center()
    # 包围盒8个顶点坐标
    vertices = axis_aligned_bounding_box.get_box_points()

    oriented_bounding_box.color = (0, 1, 0)
    print(
        "Displaying axis_aligned_bounding_box in red and oriented bounding box in green ..."
    )
    o3d.visualization.draw(
        [pcd, axis_aligned_bounding_box, oriented_bounding_box])

计算质心，并把点云平移到原点

import open3d as o3d
import numpy as np
if __name__ == '__main__':
    pcd = o3d.io.read_point_cloud("data/bunny.ply")
    center=pcd.get_center()
    print(center)

    for i,point in enumerate(pcd.points) :
        pcd.points[i]=point-center
	#也可以使用Numpy计算质心
    points = np.array(pcd.points)
    #注意：axis, 默认是对所有元素相加求平均值；axis = 0，对各列求均值；axis = 1，对各行求均值
    center = np.mean(points, axis=0)