用PCL绘制AABB和OBB包围盒

本文主要介绍基于PCL的AABB包围盒和OBB包围盒代码，并对两个包围盒均进行了二次封装，函数输入为点云指针。
首先，包含必要的头文件：

#include <iostream>
#include <string>
#include <vector>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/common.h>
#include <vtkAutoInit.h>
#include <Eigen/Core>
#include <pcl/common/transforms.h>
#include <pcl/features/moment_of_inertia_estimation.h>

一、AABB包围盒

void aabb(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)//点云AABB包围盒
{
	pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
	feature_extractor.setInputCloud(cloud);
	feature_extractor.compute();

	std::vector <float> moment_of_inertia;
	std::vector <float> eccentricity;

	pcl::PointXYZ min_point_AABB;//AABB包围盒
	pcl::PointXYZ max_point_AABB;

	Eigen::Vector3f major_vector, middle_vector, minor_vector;
	Eigen::Vector3f mass_center;

	feature_extractor.getMomentOfInertia(moment_of_inertia);
	feature_extractor.getEccentricity(eccentricity);
	feature_extractor.getAABB(min_point_AABB, max_point_AABB);
	feature_extractor.getEigenVectors(major_vector, middle_vector, minor_vector);
	feature_extractor.getMassCenter(mass_center);

	//绘制AABB包围盒
	pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0, 0, 0);
	//viewer->addCoordinateSystem(1.0);

	pcl::visualization::PointCloudColorHandlerRandom<pcl::PointXYZ> RandomColor(cloud);//设置随机颜色
	viewer->addPointCloud<pcl::PointXYZ>(cloud, RandomColor, "points");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "points");

	viewer->addCube(min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "AABB");
	viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, "AABB");
	
	pcl::PointXYZ center(mass_center(0), mass_center(1), mass_center(2));
	pcl::PointXYZ x_axis(major_vector(0) + mass_center(0), major_vector(1) + mass_center(1), major_vector(2) + mass_center(2));
	pcl::PointXYZ y_axis(middle_vector(0) + mass_center(0), middle_vector(1) + mass_center(1), middle_vector(2) + mass_center(2));
	pcl::PointXYZ z_axis(minor_vector(0) + mass_center(0), minor_vector(1) + mass_center(1), minor_vector(2) + mass_center(2));
	viewer->addLine(center, x_axis, 1.0f, 0.0f, 0.0f, "major eigen vector");
	viewer->addLine(center, y_axis, 0.0f, 1.0f, 0.0f, "middle eigen vector");
	viewer->addLine(center, z_axis, 0.0f, 0.0f, 1.0f, "minor eigen vector");

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
	}
}

二、OBB包围盒

void obb(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)//点云OBB有向包围盒
{
	pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
	feature_extractor.setInputCloud(cloud);
	feature_extractor.compute();

	std::vector <float> moment_of_inertia;
	std::vector <float> eccentricity;
	pcl::PointXYZ min_point_OBB;
	pcl::PointXYZ max_point_OBB;
	pcl::PointXYZ position_OBB;
	Eigen::Matrix3f rotational_matrix_OBB;
	float major_value, middle_value, minor_value;
	Eigen::Vector3f major_vector, middle_vector, minor_vector;
	Eigen::Vector3f mass_center;

	feature_extractor.getMomentOfInertia(moment_of_inertia);
	feature_extractor.getEccentricity(eccentricity);
	feature_extractor.getOBB(min_point_OBB, max_point_OBB, position_OBB, rotational_matrix_OBB);
	feature_extractor.getEigenValues(major_value, middle_value, minor_value);
	feature_extractor.getEigenVectors(major_vector, middle_vector, minor_vector);
	feature_extractor.getMassCenter(mass_center);

	//绘制OBB包围盒
	pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0, 0, 0);
	//viewer->addCoordinateSystem(1.0);

	pcl::visualization::PointCloudColorHandlerRandom<pcl::PointXYZ> RandomColor(cloud);//设置随机颜色
	viewer->addPointCloud<pcl::PointXYZ>(cloud, RandomColor, "points");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "points");

	Eigen::Vector3f position(position_OBB.x, position_OBB.y, position_OBB.z);
	Eigen::Quaternionf quat(rotational_matrix_OBB);
	viewer->addCube(position, quat, max_point_OBB.x - min_point_OBB.x, max_point_OBB.y - min_point_OBB.y, max_point_OBB.z - min_point_OBB.z, "OBB");
	viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, "OBB");

	pcl::PointXYZ center(mass_center(0), mass_center(1), mass_center(2));
	pcl::PointXYZ x_axis(major_vector(0) + mass_center(0), major_vector(1) + mass_center(1), major_vector(2) + mass_center(2));
	pcl::PointXYZ y_axis(middle_vector(0) + mass_center(0), middle_vector(1) + mass_center(1), middle_vector(2) + mass_center(2));
	pcl::PointXYZ z_axis(minor_vector(0) + mass_center(0), minor_vector(1) + mass_center(1), minor_vector(2) + mass_center(2));
	viewer->addLine(center, x_axis, 1.0f, 0.0f, 0.0f, "major eigen vector");//主成分
	viewer->addLine(center, y_axis, 0.0f, 1.0f, 0.0f, "middle eigen vector");
	viewer->addLine(center, z_axis, 0.0f, 0.0f, 1.0f, "minor eigen vector");

	std::cout << mass_center << std::endl;//中心点
	std::cout << rotational_matrix_OBB << std::endl;//矩阵

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
	}
}

运行效果：
(1) AABB

(2) OBB