点云可视化 获得与显示bbox

• 开篇点题,使用open3d

import open3d as o3d
import numpy as np
import time

file_path = '/home/xxx/models/obj_01.ply'
pcd = o3d.io.read_point_cloud(file_path)
print(pcd)

# bbox
aabb = pcd.get_axis_aligned_bounding_box()
aabb.color = (0, 1, 0)
print(np.asarray(aabb.get_box_points()))  # Just print
# print(dir(aabb))

obb = pcd.get_oriented_bounding_box()
obb.color = (1, 0, 0)

o3d.visualization.draw_geometries([pcd2, aabb, obb],
                                  zoom=0.7,
                                  front=[0.5439, -0.2333, -0.8060],
                                  lookat=[2.4615, 2.1331, 1.338],
                                  up=[-0.1781, -0.9708, 0.1608])