Open3D (C++ API)  0.18.0
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BoundingVolume.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <Eigen/Core>
11
13
14namespace open3d {
15namespace geometry {
16
17class AxisAlignedBoundingBox;
18
26public:
32 center_(0, 0, 0),
33 R_(Eigen::Matrix3d::Identity()),
34 extent_(0, 0, 0),
35 color_(1, 1, 1) {}
42 OrientedBoundingBox(const Eigen::Vector3d& center,
43 const Eigen::Matrix3d& R,
44 const Eigen::Vector3d& extent)
46 center_(center),
47 R_(R),
48 extent_(extent) {}
50
51public:
52 OrientedBoundingBox& Clear() override;
53 bool IsEmpty() const override;
54 virtual Eigen::Vector3d GetMinBound() const override;
55 virtual Eigen::Vector3d GetMaxBound() const override;
56 virtual Eigen::Vector3d GetCenter() const override;
57
61
64 bool robust) const override;
65
68 bool robust) const override;
69
71 const Eigen::Matrix4d& transformation) override;
72 virtual OrientedBoundingBox& Translate(const Eigen::Vector3d& translation,
73 bool relative = true) override;
74 virtual OrientedBoundingBox& Scale(const double scale,
75 const Eigen::Vector3d& center) override;
76 virtual OrientedBoundingBox& Rotate(const Eigen::Matrix3d& R,
77 const Eigen::Vector3d& center) override;
78
80 double Volume() const;
81
102 std::vector<Eigen::Vector3d> GetBoxPoints() const;
103
105 std::vector<size_t> GetPointIndicesWithinBoundingBox(
106 const std::vector<Eigen::Vector3d>& points) const;
107
113 const AxisAlignedBoundingBox& aabox);
114
125 const std::vector<Eigen::Vector3d>& points, bool robust = false);
126
138 const std::vector<Eigen::Vector3d>& points, bool robust = false);
139
140public:
142 Eigen::Vector3d center_;
145 Eigen::Matrix3d R_;
147 Eigen::Vector3d extent_;
149 Eigen::Vector3d color_;
150};
151
161public:
174 AxisAlignedBoundingBox(const Eigen::Vector3d& min_bound,
175 const Eigen::Vector3d& max_bound);
177
178public:
179 AxisAlignedBoundingBox& Clear() override;
180 bool IsEmpty() const override;
181 virtual Eigen::Vector3d GetMinBound() const override;
182 virtual Eigen::Vector3d GetMaxBound() const override;
183 virtual Eigen::Vector3d GetCenter() const override;
184
186 virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
187
191 bool robust = false) const override;
192
196 bool robust = false) const override;
198 const Eigen::Matrix4d& transformation) override;
200 const Eigen::Vector3d& translation, bool relative = true) override;
201
212 const double scale, const Eigen::Vector3d& center) override;
213
217 const Eigen::Matrix3d& R, const Eigen::Vector3d& center) override;
218
220
222 Eigen::Vector3d GetExtent() const { return (max_bound_ - min_bound_); }
223
225 Eigen::Vector3d GetHalfExtent() const { return GetExtent() * 0.5; }
226
229 double GetMaxExtent() const { return (max_bound_ - min_bound_).maxCoeff(); }
230
233 double GetXPercentage(double x) const {
234 return (x - min_bound_(0)) / (max_bound_(0) - min_bound_(0));
235 }
236
239 double GetYPercentage(double y) const {
240 return (y - min_bound_(1)) / (max_bound_(1) - min_bound_(1));
241 }
242
245 double GetZPercentage(double z) const {
246 return (z - min_bound_(2)) / (max_bound_(2) - min_bound_(2));
247 }
248
250 double Volume() const;
252 std::vector<Eigen::Vector3d> GetBoxPoints() const;
253
257 std::vector<size_t> GetPointIndicesWithinBoundingBox(
258 const std::vector<Eigen::Vector3d>& points) const;
259
261 std::string GetPrintInfo() const;
262
267 const std::vector<Eigen::Vector3d>& points);
268
269public:
271 Eigen::Vector3d min_bound_;
273 Eigen::Vector3d max_bound_;
275 Eigen::Vector3d color_;
276};
277
278} // namespace geometry
279} // namespace open3d
A bounding box that is aligned along the coordinate axes and defined by the min_bound and max_bound.
Definition BoundingVolume.h:160
Eigen::Vector3d GetHalfExtent() const
Returns the half extent of the bounding box.
Definition BoundingVolume.h:225
double Volume() const
Returns the volume of the bounding box.
Definition BoundingVolume.cpp:353
AxisAlignedBoundingBox()
Default constructor.
Definition BoundingVolume.h:165
~AxisAlignedBoundingBox() override
Definition BoundingVolume.h:176
virtual AxisAlignedBoundingBox & Rotate(const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
an AxisAlignedBoundingBox can not be rotated. This method will throw an error.
Definition BoundingVolume.cpp:303
virtual Eigen::Vector3d GetCenter() const override
Returns the center of the geometry coordinates.
Definition BoundingVolume.cpp:240
double GetXPercentage(double x) const
Definition BoundingVolume.h:233
virtual OrientedBoundingBox GetMinimalOrientedBoundingBox(bool robust=false) const override
Definition BoundingVolume.cpp:254
virtual AxisAlignedBoundingBox & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition BoundingVolume.cpp:275
Eigen::Vector3d min_bound_
The lower x, y, z bounds of the bounding box.
Definition BoundingVolume.h:271
virtual Eigen::Vector3d GetMinBound() const override
Returns min bounds for geometry coordinates.
Definition BoundingVolume.cpp:232
bool IsEmpty() const override
Returns true iff the geometry is empty.
Definition BoundingVolume.cpp:230
virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override
Returns the object itself.
Definition BoundingVolume.cpp:244
virtual AxisAlignedBoundingBox & Translate(const Eigen::Vector3d &translation, bool relative=true) override
Apply translation to the geometry coordinates.
Definition BoundingVolume.cpp:283
AxisAlignedBoundingBox & operator+=(const AxisAlignedBoundingBox &other)
Definition BoundingVolume.cpp:317
virtual OrientedBoundingBox GetOrientedBoundingBox(bool robust=false) const override
Definition BoundingVolume.cpp:249
Eigen::Vector3d GetExtent() const
Get the extent/length of the bounding box in x, y, and z dimension.
Definition BoundingVolume.h:222
std::string GetPrintInfo() const
Returns the 3D dimensions of the bounding box in string format.
Definition BoundingVolume.cpp:311
AxisAlignedBoundingBox & Clear() override
Clear all elements in the geometry.
Definition BoundingVolume.cpp:224
double GetZPercentage(double z) const
Definition BoundingVolume.h:245
static AxisAlignedBoundingBox CreateFromPoints(const std::vector< Eigen::Vector3d > &points)
Definition BoundingVolume.cpp:329
double GetMaxExtent() const
Definition BoundingVolume.h:229
double GetYPercentage(double y) const
Definition BoundingVolume.h:239
std::vector< Eigen::Vector3d > GetBoxPoints() const
Returns the eight points that define the bounding box.
Definition BoundingVolume.cpp:355
std::vector< size_t > GetPointIndicesWithinBoundingBox(const std::vector< Eigen::Vector3d > &points) const
Definition BoundingVolume.cpp:369
virtual AxisAlignedBoundingBox & Scale(const double scale, const Eigen::Vector3d &center) override
Scales the axis-aligned bounding boxes. If is the min_bound and is the max_bound of the axis aligne...
Definition BoundingVolume.cpp:296
Eigen::Vector3d color_
The color of the bounding box in RGB.
Definition BoundingVolume.h:275
virtual Eigen::Vector3d GetMaxBound() const override
Returns max bounds for geometry coordinates.
Definition BoundingVolume.cpp:236
Eigen::Vector3d max_bound_
The upper x, y, z bounds of the bounding box.
Definition BoundingVolume.h:273
The base geometry class for 3D geometries.
Definition Geometry3D.h:28
The base geometry class.
Definition Geometry.h:18
GeometryType
Specifies possible geometry types.
Definition Geometry.h:23
A bounding box oriented along an arbitrary frame of reference.
Definition BoundingVolume.h:25
static OrientedBoundingBox CreateFromPointsMinimal(const std::vector< Eigen::Vector3d > &points, bool robust=false)
Definition BoundingVolume.cpp:190
Eigen::Vector3d extent_
The extent of the bounding box in its frame of reference.
Definition BoundingVolume.h:147
OrientedBoundingBox()
Default constructor.
Definition BoundingVolume.h:30
OrientedBoundingBox & Clear() override
Clear all elements in the geometry.
Definition BoundingVolume.cpp:21
Eigen::Vector3d color_
The color of the bounding box in RGB.
Definition BoundingVolume.h:149
Eigen::Matrix3d R_
Definition BoundingVolume.h:145
virtual Eigen::Vector3d GetMaxBound() const override
Returns max bounds for geometry coordinates.
Definition BoundingVolume.cpp:36
~OrientedBoundingBox() override
Definition BoundingVolume.h:49
virtual OrientedBoundingBox & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition BoundingVolume.cpp:56
virtual Eigen::Vector3d GetCenter() const override
Returns the center of the geometry coordinates.
Definition BoundingVolume.cpp:41
OrientedBoundingBox(const Eigen::Vector3d &center, const Eigen::Matrix3d &R, const Eigen::Vector3d &extent)
Parameterized constructor.
Definition BoundingVolume.h:42
static OrientedBoundingBox CreateFromPoints(const std::vector< Eigen::Vector3d > &points, bool robust=false)
Definition BoundingVolume.cpp:134
virtual OrientedBoundingBox & Rotate(const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center ,...
Definition BoundingVolume.cpp:81
std::vector< Eigen::Vector3d > GetBoxPoints() const
Definition BoundingVolume.cpp:92
static OrientedBoundingBox CreateFromAxisAlignedBoundingBox(const AxisAlignedBoundingBox &aabox)
Definition BoundingVolume.cpp:125
virtual OrientedBoundingBox & Scale(const double scale, const Eigen::Vector3d &center) override
Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is tr...
Definition BoundingVolume.cpp:74
double Volume() const
Returns the volume of the bounding box.
Definition BoundingVolume.cpp:88
std::vector< size_t > GetPointIndicesWithinBoundingBox(const std::vector< Eigen::Vector3d > &points) const
Return indices to points that are within the bounding box.
Definition BoundingVolume.cpp:108
virtual OrientedBoundingBox GetOrientedBoundingBox(bool robust) const override
Returns the object itself.
Definition BoundingVolume.cpp:47
virtual Eigen::Vector3d GetMinBound() const override
Returns min bounds for geometry coordinates.
Definition BoundingVolume.cpp:31
virtual OrientedBoundingBox GetMinimalOrientedBoundingBox(bool robust) const override
Returns the object itself.
Definition BoundingVolume.cpp:51
virtual OrientedBoundingBox & Translate(const Eigen::Vector3d &translation, bool relative=true) override
Apply translation to the geometry coordinates.
Definition BoundingVolume.cpp:64
virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override
Definition BoundingVolume.cpp:43
bool IsEmpty() const override
Returns true iff the geometry is empty.
Definition BoundingVolume.cpp:29
Eigen::Vector3d center_
The center point of the bounding box.
Definition BoundingVolume.h:142
int points
Definition FilePCD.cpp:54
Definition NonRigidOptimizer.cpp:22
Definition PinholeCameraIntrinsic.cpp:16