Open3d之计算点云边界框

核心函数

与Open3D中的其他几何类型一样，PointCloud几何类型具有边界框。 当前，Open3D实现了AxisAlignedBoundingBox和OrientedBoundingBox，它们也可用于裁剪几何。

AxisAlignedBoundingBox: 返回几何的轴对齐边界框。与Opencv中的cv2.boundingRect()相似

OrientedBoundingBox: 返回几何体的定向边界框。与Opencv中的cv2.minAreaRect()相似

代码展示

# -*-coding:utf-8 -*-
import os
import open3d as o3d
import numpy as np

test_data_dir = '/home/pi/PycharmProjects/learn/Open3D/examples/test_data'
point_cloud_file_name = 'fragment.ply'
point_cloud_file_path = os.path.join(test_data_dir, point_cloud_file_name)
# 读取点云
pcd = o3d.io.read_point_cloud(point_cloud_file_path)
# 裁剪点云
vol = o3d.visualization.read_selection_polygon_volume(
    "/home/pi/PycharmProjects/learn/Open3D/examples/test_data/Crop/cropped.json")
chair = vol.crop_point_cloud(pcd)

# 计算轴对齐边界框
aabb = chair.get_axis_aligned_bounding_box()
aabb.color = (1, 0, 0)

# 计算定向边界框
obb = chair.get_oriented_bounding_box()
obb.color = (0, 1, 0)
# 可视化
o3d.visualization.draw_geometries([chair, 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])

效果展示