Open3D (C++ API)  0.15.1
BoundingVolume.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 
32 
33 namespace open3d {
34 namespace geometry {
35 
36 class AxisAlignedBoundingBox;
37 
45 public:
51  center_(0, 0, 0),
52  R_(Eigen::Matrix3d::Identity()),
53  extent_(0, 0, 0),
54  color_(1, 1, 1) {}
61  OrientedBoundingBox(const Eigen::Vector3d& center,
62  const Eigen::Matrix3d& R,
63  const Eigen::Vector3d& extent)
65  center_(center),
66  R_(R),
67  extent_(extent) {}
68  ~OrientedBoundingBox() override {}
69 
70 public:
71  OrientedBoundingBox& Clear() override;
72  bool IsEmpty() const override;
73  virtual Eigen::Vector3d GetMinBound() const override;
74  virtual Eigen::Vector3d GetMaxBound() const override;
75  virtual Eigen::Vector3d GetCenter() const override;
76  virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
78  bool robust) const override;
80  const Eigen::Matrix4d& transformation) override;
81  virtual OrientedBoundingBox& Translate(const Eigen::Vector3d& translation,
82  bool relative = true) override;
83  virtual OrientedBoundingBox& Scale(const double scale,
84  const Eigen::Vector3d& center) override;
85  virtual OrientedBoundingBox& Rotate(const Eigen::Matrix3d& R,
86  const Eigen::Vector3d& center) override;
87 
89  double Volume() const;
90 
111  std::vector<Eigen::Vector3d> GetBoxPoints() const;
112 
114  std::vector<size_t> GetPointIndicesWithinBoundingBox(
115  const std::vector<Eigen::Vector3d>& points) const;
116 
122  const AxisAlignedBoundingBox& aabox);
123 
134  const std::vector<Eigen::Vector3d>& points, bool robust = false);
135 
136 public:
138  Eigen::Vector3d center_;
141  Eigen::Matrix3d R_;
143  Eigen::Vector3d extent_;
145  Eigen::Vector3d color_;
146 };
147 
156 public:
162  min_bound_(0, 0, 0),
163  max_bound_(0, 0, 0),
164  color_(1, 1, 1) {}
169  AxisAlignedBoundingBox(const Eigen::Vector3d& min_bound,
170  const Eigen::Vector3d& max_bound)
172  min_bound_(min_bound),
173  max_bound_(max_bound),
174  color_(1, 1, 1) {}
176 
177 public:
178  AxisAlignedBoundingBox& Clear() override;
179  bool IsEmpty() const override;
180  virtual Eigen::Vector3d GetMinBound() const override;
181  virtual Eigen::Vector3d GetMaxBound() const override;
182  virtual Eigen::Vector3d GetCenter() const override;
183  virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
185  bool robust = false) const override;
187  const Eigen::Matrix4d& transformation) override;
189  const Eigen::Vector3d& translation, bool relative = true) override;
190 
200  virtual AxisAlignedBoundingBox& Scale(
201  const double scale, const Eigen::Vector3d& center) override;
202 
206  const Eigen::Matrix3d& R, const Eigen::Vector3d& center) override;
207 
209 
211  Eigen::Vector3d GetExtent() const { return (max_bound_ - min_bound_); }
212 
214  Eigen::Vector3d GetHalfExtent() const { return GetExtent() * 0.5; }
215 
218  double GetMaxExtent() const { return (max_bound_ - min_bound_).maxCoeff(); }
219 
220  double GetXPercentage(double x) const {
221  return (x - min_bound_(0)) / (max_bound_(0) - min_bound_(0));
222  }
223 
224  double GetYPercentage(double y) const {
225  return (y - min_bound_(1)) / (max_bound_(1) - min_bound_(1));
226  }
227 
228  double GetZPercentage(double z) const {
229  return (z - min_bound_(2)) / (max_bound_(2) - min_bound_(2));
230  }
231 
233  double Volume() const;
235  std::vector<Eigen::Vector3d> GetBoxPoints() const;
236 
240  std::vector<size_t> GetPointIndicesWithinBoundingBox(
241  const std::vector<Eigen::Vector3d>& points) const;
242 
244  std::string GetPrintInfo() const;
245 
250  const std::vector<Eigen::Vector3d>& points);
251 
252 public:
254  Eigen::Vector3d min_bound_;
256  Eigen::Vector3d max_bound_;
258  Eigen::Vector3d color_;
259 };
260 
261 } // namespace geometry
262 } // namespace open3d
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:155
Eigen::Vector3d GetHalfExtent() const
Returns the half extent of the bounding box.
Definition: BoundingVolume.h:214
double Volume() const
Returns the volume of the bounding box.
Definition: BoundingVolume.cpp:309
AxisAlignedBoundingBox()
Default constructor.
Definition: BoundingVolume.h:160
~AxisAlignedBoundingBox() override
Definition: BoundingVolume.h:175
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:262
virtual Eigen::Vector3d GetCenter() const override
Returns the center of the geometry coordinates.
Definition: BoundingVolume.cpp:220
double GetXPercentage(double x) const
Definition: BoundingVolume.h:220
virtual AxisAlignedBoundingBox & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition: BoundingVolume.cpp:234
Eigen::Vector3d min_bound_
The lower x, y, z bounds of the bounding box.
Definition: BoundingVolume.h:254
virtual Eigen::Vector3d GetMinBound() const override
Returns min bounds for geometry coordinates.
Definition: BoundingVolume.cpp:212
bool IsEmpty() const override
Returns true iff the geometry is empty.
Definition: BoundingVolume.cpp:210
virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override
Returns an axis-aligned bounding box of the geometry.
Definition: BoundingVolume.cpp:224
virtual AxisAlignedBoundingBox & Translate(const Eigen::Vector3d &translation, bool relative=true) override
Apply translation to the geometry coordinates.
Definition: BoundingVolume.cpp:242
AxisAlignedBoundingBox & operator+=(const AxisAlignedBoundingBox &other)
Definition: BoundingVolume.cpp:276
virtual OrientedBoundingBox GetOrientedBoundingBox(bool robust=false) const override
Definition: BoundingVolume.cpp:229
Eigen::Vector3d GetExtent() const
Get the extent/length of the bounding box in x, y, and z dimension.
Definition: BoundingVolume.h:211
std::string GetPrintInfo() const
Returns the 3D dimensions of the bounding box in string format.
Definition: BoundingVolume.cpp:270
AxisAlignedBoundingBox & Clear() override
Clear all elements in the geometry.
Definition: BoundingVolume.cpp:204
double GetZPercentage(double z) const
Definition: BoundingVolume.h:228
static AxisAlignedBoundingBox CreateFromPoints(const std::vector< Eigen::Vector3d > &points)
Definition: BoundingVolume.cpp:288
double GetMaxExtent() const
Definition: BoundingVolume.h:218
double GetYPercentage(double y) const
Definition: BoundingVolume.h:224
std::vector< Eigen::Vector3d > GetBoxPoints() const
Returns the eight points that define the bounding box.
Definition: BoundingVolume.cpp:311
std::vector< size_t > GetPointIndicesWithinBoundingBox(const std::vector< Eigen::Vector3d > &points) const
Definition: BoundingVolume.cpp:325
virtual AxisAlignedBoundingBox & Scale(const double scale, const Eigen::Vector3d &center) override
Scales the axis-aligned bounding boxs. If is the min_bound and is the max_bound of the axis aligned...
Definition: BoundingVolume.cpp:255
AxisAlignedBoundingBox(const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound)
Parameterized constructor.
Definition: BoundingVolume.h:169
Eigen::Vector3d color_
The color of the bounding box in RGB.
Definition: BoundingVolume.h:258
virtual Eigen::Vector3d GetMaxBound() const override
Returns max bounds for geometry coordinates.
Definition: BoundingVolume.cpp:216
Eigen::Vector3d max_bound_
The upper x, y, z bounds of the bounding box.
Definition: BoundingVolume.h:256
The base geometry class for 3D geometries.
Definition: Geometry3D.h:47
The base geometry class.
Definition: Geometry.h:37
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:42
A bounding box oriented along an arbitrary frame of reference.
Definition: BoundingVolume.h:44
Eigen::Vector3d extent_
The extent of the bounding box in its frame of reference.
Definition: BoundingVolume.h:143
OrientedBoundingBox()
Default constructor.
Definition: BoundingVolume.h:49
OrientedBoundingBox & Clear() override
Clear all elements in the geometry.
Definition: BoundingVolume.cpp:40
Eigen::Vector3d color_
The color of the bounding box in RGB.
Definition: BoundingVolume.h:145
Eigen::Matrix3d R_
Definition: BoundingVolume.h:141
virtual Eigen::Vector3d GetMaxBound() const override
Returns max bounds for geometry coordinates.
Definition: BoundingVolume.cpp:55
~OrientedBoundingBox() override
Definition: BoundingVolume.h:68
virtual OrientedBoundingBox & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition: BoundingVolume.cpp:70
virtual Eigen::Vector3d GetCenter() const override
Returns the center of the geometry coordinates.
Definition: BoundingVolume.cpp:60
OrientedBoundingBox(const Eigen::Vector3d &center, const Eigen::Matrix3d &R, const Eigen::Vector3d &extent)
Parameterized constructor.
Definition: BoundingVolume.h:61
static OrientedBoundingBox CreateFromPoints(const std::vector< Eigen::Vector3d > &points, bool robust=false)
Definition: BoundingVolume.cpp:148
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:95
std::vector< Eigen::Vector3d > GetBoxPoints() const
Definition: BoundingVolume.cpp:106
static OrientedBoundingBox CreateFromAxisAlignedBoundingBox(const AxisAlignedBoundingBox &aabox)
Definition: BoundingVolume.cpp:139
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:88
double Volume() const
Returns the volume of the bounding box.
Definition: BoundingVolume.cpp:102
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:122
virtual OrientedBoundingBox GetOrientedBoundingBox(bool robust) const override
Definition: BoundingVolume.cpp:66
virtual Eigen::Vector3d GetMinBound() const override
Returns min bounds for geometry coordinates.
Definition: BoundingVolume.cpp:50
virtual OrientedBoundingBox & Translate(const Eigen::Vector3d &translation, bool relative=true) override
Apply translation to the geometry coordinates.
Definition: BoundingVolume.cpp:78
virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override
Returns an axis-aligned bounding box of the geometry.
Definition: BoundingVolume.cpp:62
bool IsEmpty() const override
Returns true iff the geometry is empty.
Definition: BoundingVolume.cpp:48
Eigen::Vector3d center_
The center point of the bounding box.
Definition: BoundingVolume.h:138
int points
Definition: FilePCD.cpp:73
Definition: NonRigidOptimizer.cpp:41
Definition: PinholeCameraIntrinsic.cpp:35