CloudCompare——计算点云的最小包围盒

本文由CSDN点云侠原创，原文链接。爬虫自重，把自己当个人。博客长期更新，本文最近更新时间为：2023年8月10日。

1.概述

   CloudCompare软件中默认的包围盒是轴向AABB包围盒，如下图的黄色立方体框所示，此包围盒并未与点云贴合。要想使包围盒与点云更贴合就需要计算点云的最小包围盒。

2.软件实现

   'Tools——>Sand box——>Bounding box P.C.A. fit'功能可以实现点云最小包围盒的计算。

如下图所示，为点云的最小包围盒。

3.算法源码

void MainWindow::doComputeBestFitBB()
{
	if (QMessageBox::warning(	this,
								"This method is for test purpose only",
								"Cloud(s) are going to be rotated while still displayed in their previous position! Proceed?",
								QMessageBox::Yes | QMessageBox::No,
								QMessageBox::No ) != QMessageBox::Yes)
	{
		return;
	}

	//backup selected entities as removeObjectTemporarilyFromDBTree can modify them
	ccHObject::Container selectedEntities = getSelectedEntities();

	for (ccHObject *entity : selectedEntities) //warning, getSelectedEntites may change during this loop!
	{
		ccGenericPointCloud* cloud = ccHObjectCaster::ToGenericPointCloud(entity);

		if (cloud && cloud->isA(CC_TYPES::POINT_CLOUD)) // TODO
		{
			CCLib::Neighbourhood Yk(cloud);

			CCLib::SquareMatrixd covMat = Yk.computeCovarianceMatrix();
			if (covMat.isValid())
			{
				CCLib::SquareMatrixd eigVectors;
				std::vector<double> eigValues;
				if (Jacobi<double>::ComputeEigenValuesAndVectors(covMat, eigVectors, eigValues, true))
				{
					Jacobi<double>::SortEigenValuesAndVectors(eigVectors, eigValues);

					ccGLMatrix trans;
					GLfloat* rotMat = trans.data();
					for (unsigned j = 0; j < 3; ++j)
					{
						double u[3];
						Jacobi<double>::GetEigenVector(eigVectors, j, u);
						CCVector3 v(static_cast<PointCoordinateType>(u[0]),
									static_cast<PointCoordinateType>(u[1]),
									static_cast<PointCoordinateType>(u[2]));
						v.normalize();
						rotMat[j*4]		= static_cast<float>(v.x);
						rotMat[j*4+1]	= static_cast<float>(v.y);
						rotMat[j*4+2]	= static_cast<float>(v.z);
					}

					const CCVector3* G = Yk.getGravityCenter();
					assert(G);
					trans.shiftRotationCenter(*G);

					cloud->setGLTransformation(trans);
					trans.invert();

					//we temporarily detach entity, as it may undergo
					//"severe" modifications (octree deletion, etc.) --> see ccPointCloud::applyRigidTransformation
					ccHObjectContext objContext = removeObjectTemporarilyFromDBTree(cloud);
					static_cast<ccPointCloud*>(cloud)->applyRigidTransformation(trans);
					putObjectBackIntoDBTree(cloud,objContext);

					entity->prepareDisplayForRefresh_recursive();
				}
			}
		}
	}

	refreshAll();
}

4.相关代码

[1] PCL PCA构建点云包围盒
[2] matlab PCA构建点云OBB包围盒