I'm trying to orient a point cloud and its fitted obb to align with the x, y, z coordinate axes. My operations are the following: Fit an oriented bounding box (obb) to a point cloud (pcd) Get the rotation matrix from obb (r_matrix) and transpose (rt_matrix) Apply rt_matrix to obb (obb_rotated) Apply rt_matrix to point cloud (pcd_rotated) Display obb_rotated and pcd_rotated with coordinate system axes The obb is correctly rotated, but the point cloud does not get rotated at all. Can't find much doc on the rotation matrix from obb other than it's a 3x3 numpy array. Could the rotation matrix from obb be incompatible with the point cloud rotate function? Or am I missing something obvious? Thanks for any suggestions! Sample code: pcd = o3d.io.read_point_cloud() obb = pcd.get_minimal_oriented_bounding_box() r_matrix = obb.R rt_matrix = r_matrix.T obb_rotated = obb.rotate(rt_matrix, center=(0,0,0)) # correctly aligned with x, y, z axes pcd_rotated = pcd.rotate(rt_matrix, center=(0,0,0)) # does nothing Continue reading...
