obb包围盒算法实现matlab

实现obb包围盒算法的MATLAB代码如下：

function [obb, corners] = compute_obb(points)
% points为n*3的点云，obb为向量[中心点，长度，宽度，高度，旋转角度]，corners为obb的8个顶点

% 计算协方差矩阵
cov_mat = cov(points);
% 计算特征向量和特征值
[eigenvec, eigenval] = eig(cov_mat);
% 将特征值从大到小排序，并将其对应的特征向量排序
[~, ind] = sort(diag(eigenval), 'descend');
eigenvec = eigenvec(:,ind);

% 计算obb中心点坐标
center = mean(points);

% 计算obb长度、宽度和高度
length = sqrt(eigenval(ind(1), ind(1)));
width = sqrt(eigenval(ind(2), ind(2)));
height = sqrt(eigenval(ind(3), ind(3)));

% 计算obb旋转角度
x_axis = eigenvec(:,1);
y_axis = eigenvec(:,2);
z_axis = eigenvec(:,3);
rotation_mat = [x_axis, y_axis, z_axis];
rotation_angle = [acosd(rotation_mat(1,1)), acosd(rotation_mat(2,1)), acosd(rotation_mat(3,1))];

% 计算obb的8个顶点
corners = zeros(8,3);
corners(1,:) = center + length/2 * x_axis + width/2 * y_axis + height/2 * z_axis;
corners(2,:) = center + length/2 * x_axis + width/2 * y_axis - height/2 * z_axis;
corners(3,:) = center + length/2 * x_axis - width/2 * y_axis + height/2 * z_axis;
corners(4,:) = center + length/2 * x_axis - width/2 * y_axis - height/2 * z_axis;
corners(5,:) = center - length/2 * x_axis + width/2 * y_axis + height/2 * z_axis;
corners(6,:) = center - length/2 * x_axis + width/2 * y_axis - height/2 * z_axis;
corners(7,:) = center - length/2 * x_axis - width/2 * y_axis + height/2 * z_axis;
corners(8,:) = center - length/2 * x_axis - width/2 * y_axis - height/2 * z_axis;

% 将obb信息存储在向量中
obb = [center, length, width, height, rotation_angle];
end

该代码实现了obb包围盒算法，输入为一个n*3的点云，输出为一个obb向量和8个obb的顶点坐标。其中obb向量包含中心点坐标、长度、宽度、高度和旋转角度。