rotate
函数旋转八叉树,并返回旋转后的八叉树对象。
Octree.rotate(self, R: numpy.ndarray[[4, 4]]) -> open3d.geometry.Octree
R
:旋转矩阵,为一个 $4 \times 4$ 的numpy数组。import numpy as np
import open3d
octree = open3d.geometry.Octree(max_depth=5)
points = np.random.rand(1000, 3)
octree.construct(points)
# 定义旋转矩阵
theta = np.pi/4
R = np.array([
[np.cos(theta), -np.sin(theta), 0, 0],
[np.sin(theta), np.cos(theta), 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
])
# 进行旋转并获取新的八叉树对象
new_octree = octree.rotate(R)
# 可以绘制该对象来观察旋转后的效果
vis = open3d.visualization.Visualizer()
vis.create_window()
vis.add_geometry(new_octree)
vis.run()
vis.destroy_window()
ValueError
异常。八叉树的旋转是非可逆操作,即不能实现通过旋转回到原始状态。
如果希望同时对点云进行旋转,可以通过矩阵乘法来实现。例如:
new_points = points @ R[:3,:3].T