Open3D (C++ API)  0.17.0
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
160public:
166 min_bound_(0, 0, 0),
167 max_bound_(0, 0, 0),
168 color_(1, 1, 1) {}
173 AxisAlignedBoundingBox(const Eigen::Vector3d& min_bound,
174 const Eigen::Vector3d& max_bound)
176 min_bound_(min_bound),
177 max_bound_(max_bound),
178 color_(1, 1, 1) {}
180
181public:
182 AxisAlignedBoundingBox& Clear() override;
183 bool IsEmpty() const override;
184 virtual Eigen::Vector3d GetMinBound() const override;
185 virtual Eigen::Vector3d GetMaxBound() const override;
186 virtual Eigen::Vector3d GetCenter() const override;
187
189 virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
190
194 bool robust = false) const override;
195
199 bool robust = false) const override;
201 const Eigen::Matrix4d& transformation) override;
203 const Eigen::Vector3d& translation, bool relative = true) override;
204
215 const double scale, const Eigen::Vector3d& center) override;
216
220 const Eigen::Matrix3d& R, const Eigen::Vector3d& center) override;
221
223
225 Eigen::Vector3d GetExtent() const { return (max_bound_ - min_bound_); }
226
228 Eigen::Vector3d GetHalfExtent() const { return GetExtent() * 0.5; }
229
232 double GetMaxExtent() const { return (max_bound_ - min_bound_).maxCoeff(); }
233
234 double GetXPercentage(double x) const {
235 return (x - min_bound_(0)) / (max_bound_(0) - min_bound_(0));
236 }
237
238 double GetYPercentage(double y) const {
239 return (y - min_bound_(1)) / (max_bound_(1) - min_bound_(1));
240 }
241
242 double GetZPercentage(double z) const {
243 return (z - min_bound_(2)) / (max_bound_(2) - min_bound_(2));
244 }
245
247 double Volume() const;
249 std::vector<Eigen::Vector3d> GetBoxPoints() const;
250
254 std::vector<size_t> GetPointIndicesWithinBoundingBox(
255 const std::vector<Eigen::Vector3d>& points) const;
256
258 std::string GetPrintInfo() const;
259
264 const std::vector<Eigen::Vector3d>& points);
265
266public:
268 Eigen::Vector3d min_bound_;
270 Eigen::Vector3d max_bound_;
272 Eigen::Vector3d color_;
273};
274
275} // namespace geometry
276} // namespace open3d
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:159
Eigen::Vector3d GetHalfExtent() const
Returns the half extent of the bounding box.
Definition: BoundingVolume.h:228
double Volume() const
Returns the volume of the bounding box.
Definition: BoundingVolume.cpp:334
AxisAlignedBoundingBox()
Default constructor.
Definition: BoundingVolume.h:164
~AxisAlignedBoundingBox() override
Definition: BoundingVolume.h:179
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:287
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:234
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:259
Eigen::Vector3d min_bound_
The lower x, y, z bounds of the bounding box.
Definition: BoundingVolume.h:268
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:267
AxisAlignedBoundingBox & operator+=(const AxisAlignedBoundingBox &other)
Definition: BoundingVolume.cpp:301
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:225
std::string GetPrintInfo() const
Returns the 3D dimensions of the bounding box in string format.
Definition: BoundingVolume.cpp:295
AxisAlignedBoundingBox & Clear() override
Clear all elements in the geometry.
Definition: BoundingVolume.cpp:224
double GetZPercentage(double z) const
Definition: BoundingVolume.h:242
static AxisAlignedBoundingBox CreateFromPoints(const std::vector< Eigen::Vector3d > &points)
Definition: BoundingVolume.cpp:313
double GetMaxExtent() const
Definition: BoundingVolume.h:232
double GetYPercentage(double y) const
Definition: BoundingVolume.h:238
std::vector< Eigen::Vector3d > GetBoxPoints() const
Returns the eight points that define the bounding box.
Definition: BoundingVolume.cpp:336
std::vector< size_t > GetPointIndicesWithinBoundingBox(const std::vector< Eigen::Vector3d > &points) const
Definition: BoundingVolume.cpp:350
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:280
AxisAlignedBoundingBox(const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound)
Parameterized constructor.
Definition: BoundingVolume.h:173
Eigen::Vector3d color_
The color of the bounding box in RGB.
Definition: BoundingVolume.h:272
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:270
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