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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import open3d as o3d
if __name__ == "__main__":
sample_ply_data = o3d.data.PLYPointCloud()
pcd = o3d.io.read_point_cloud(sample_ply_data.path)
# Flip it, otherwise the pointcloud will be upside down.
pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
print(pcd)
axis_aligned_bounding_box = pcd.get_axis_aligned_bounding_box()
axis_aligned_bounding_box.color = (1, 0, 0)
oriented_bounding_box = pcd.get_oriented_bounding_box()
oriented_bounding_box.color = (0, 1, 0)
print(
"Displaying axis_aligned_bounding_box in red and oriented bounding box in green ..."
)
o3d.visualization.draw(
[pcd, axis_aligned_bounding_box, oriented_bounding_box])
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