点云外接框、旋转、配色

def get_box(md_pcd, sr_pcd, st_pcd):
    # 计算点云的最小外接立方体
    md_obb = md_pcd.get_axis_aligned_bounding_box()
    md_obb.color = (0, 0, 1)
    min_xyz = md_obb.min_bound
    max_xyz = md_obb.max_bound

    points_s = np.asarray(st_pcd.points)

    ind = np.where(
        (points_s[:, 0] >= min_xyz[0]) & (points_s[:, 0] <= max_xyz[0]) & (
                points_s[:, 1] >= min_xyz[1]) & (
                points_s[:, 1] <= max_xyz[1]) & (
                points_s[:, 2] >= min_xyz[2]) & (
                points_s[:, 2] <= max_xyz[2]))[0]
    sr_pcd = sr_pcd.select_by_index(ind)

    sr_obb = sr_pcd.get_axis_aligned_bounding_box()
    sr_obb.color = (0, 0, 1)

    red_color = [1, 0, 0]  # 红色
    blue_color = [0, 0, 1]  # 蓝色

    sr_pcd.paint_uniform_color(red_color)
    md_pcd.paint_uniform_color(blue_color)
    # 可视化结果
    # o3d.visualization.draw_geometries([md_obb,md_pcd])
    combined_pcd = md_pcd + sr_pcd

    # 旋转90°
    angle_degrees = 90

    angle_radians = np.radians(angle_degrees)
    R = np.array([[np.cos(angle_radians), -np.sin(angle_radians), 0],
                  [np.sin(angle_radians), np.cos(angle_radians), 0],
                  [0, 0, 1]])

    center = combined_pcd.get_center()
    rotated_pcd = combined_pcd.rotate(R, center=(center[0], center[1], center[2]))

    # 创建一个渲染器
    vis = o3d.visualization.Visualizer()

    # 添加点云到渲染器
    vis.create_window()
    vis.add_geometry(rotated_pcd)
    # vis.add_geometry(md_obb)


    # 设置初始视角
    view_control = vis.get_view_control()
    # 缩放调整尺寸
    view_control.set_zoom(0.45)

    view_control.rotate(0,700)  # 以y轴旋转5度
    # 获取相机参数
    # params = vis.get_view_control().convert_to_pinhole_camera_parameters()



    vis.poll_events()
    vis.update_renderer()

    # 获取当前帧的渲染图像
    img = vis.capture_screen_float_buffer()
    vis.destroy_window()
    img = (np.array(img) * 255).astype(np.uint8)

    cv2.imwrite(r"point_cloud_3d.png", img)

    # vis.capture_screen_image("point_cloud_2d.png")
    # 关闭渲染窗口

    print("2D图片已保存为point_cloud_2d.png")