Open3D (C++ API)
PointCloudPicker.h
Go to the documentation of this file.
1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // The MIT License (MIT)
5 //
6 // Copyright (c) 2018 www.open3d.org
7 //
8 // Permission is hereby granted, free of charge, to any person obtaining a copy
9 // of this software and associated documentation files (the "Software"), to deal
10 // in the Software without restriction, including without limitation the rights
11 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12 // copies of the Software, and to permit persons to whom the Software is
13 // furnished to do so, subject to the following conditions:
14 //
15 // The above copyright notice and this permission notice shall be included in
16 // all copies or substantial portions of the Software.
17 //
18 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24 // IN THE SOFTWARE.
25 // ----------------------------------------------------------------------------
26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <memory>
31 #include <vector>
32 
34 
35 namespace open3d {
36 
37 namespace geometry {
38 class PointCloud;
39 }
40 namespace visualization {
41 
44 public:
46  : geometry::Geometry3D(geometry::Geometry::GeometryType::Unspecified) {}
47  ~PointCloudPicker() override {}
48 
49 public:
50  PointCloudPicker& Clear() override;
51  bool IsEmpty() const override;
52  Eigen::Vector3d GetMinBound() const final;
53  Eigen::Vector3d GetMaxBound() const final;
54  Eigen::Vector3d GetCenter() const final;
55  geometry::AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const final;
56  geometry::OrientedBoundingBox GetOrientedBoundingBox() const final;
57  PointCloudPicker& Transform(const Eigen::Matrix4d& transformation) override;
58  PointCloudPicker& Translate(const Eigen::Vector3d& translation,
59  bool relative = true) override;
60  PointCloudPicker& Scale(const double scale, bool center = true) override;
61  PointCloudPicker& Rotate(const Eigen::Matrix3d& R,
62  bool center = true) override;
63  bool SetPointCloud(std::shared_ptr<const geometry::Geometry> ptr);
64 
65 public:
66  std::shared_ptr<const geometry::Geometry> pointcloud_ptr_;
67  std::vector<size_t> picked_indices_;
68 };
69 
70 } // namespace visualization
71 } // namespace open3d
Eigen
Definition: EigenHelperForNonRigidOptimization.h:33
open3d::visualization::PointCloudPicker::Translate
PointCloudPicker & Translate(const Eigen::Vector3d &translation, bool relative=true) override
Apply translation to the geometry coordinates.
Definition: PointCloudPicker.cpp:94
open3d::visualization::PointCloudPicker::picked_indices_
std::vector< size_t > picked_indices_
Definition: PointCloudPicker.h:67
open3d::visualization::PointCloudPicker::SetPointCloud
bool SetPointCloud(std::shared_ptr< const geometry::Geometry > ptr)
Definition: PointCloudPicker.cpp:111
open3d::visualization::PointCloudPicker::Transform
PointCloudPicker & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition: PointCloudPicker.cpp:88
open3d::geometry::OrientedBoundingBox
A bounding box oriented along an arbitrary frame of reference.
Definition: BoundingVolume.h:44
open3d::registration::TransformationEstimationType::Unspecified
@ Unspecified
open3d::geometry::AxisAlignedBoundingBox
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:130
Geometry3D.h
open3d::geometry::Geometry
The base geometry class.
Definition: Geometry.h:35
open3d::geometry::Geometry3D
The base geometry class for 3D geometries.
Definition: Geometry3D.h:46
open3d::visualization::PointCloudPicker::PointCloudPicker
PointCloudPicker()
Definition: PointCloudPicker.h:45
open3d::visualization::PointCloudPicker
A utility class to store picked points of a pointcloud.
Definition: PointCloudPicker.h:43
open3d::visualization::PointCloudPicker::Clear
PointCloudPicker & Clear() override
Clear all elements in the geometry.
Definition: PointCloudPicker.cpp:36
open3d::visualization::PointCloudPicker::pointcloud_ptr_
std::shared_ptr< const geometry::Geometry > pointcloud_ptr_
Definition: PointCloudPicker.h:66
open3d::geometry::Geometry::GeometryType
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:40
open3d::visualization::PointCloudPicker::GetCenter
Eigen::Vector3d GetCenter() const final
Returns the center of the geometry coordinates.
Definition: PointCloudPicker.cpp:61
open3d::visualization::PointCloudPicker::Rotate
PointCloudPicker & Rotate(const Eigen::Matrix3d &R, bool center=true) override
Apply rotation to the geometry coordinates and normals.
Definition: PointCloudPicker.cpp:105
open3d::visualization::PointCloudPicker::~PointCloudPicker
~PointCloudPicker() override
Definition: PointCloudPicker.h:47
open3d::visualization::PointCloudPicker::IsEmpty
bool IsEmpty() const override
Returns true iff the geometry is empty.
Definition: PointCloudPicker.cpp:41
open3d
Definition: PinholeCameraIntrinsic.cpp:34
open3d::visualization::PointCloudPicker::Scale
PointCloudPicker & Scale(const double scale, bool center=true) override
Apply scaling to the geometry coordinates.
Definition: PointCloudPicker.cpp:100
open3d::visualization::PointCloudPicker::GetOrientedBoundingBox
geometry::OrientedBoundingBox GetOrientedBoundingBox() const final
Returns an oriented bounding box of the geometry.
Definition: PointCloudPicker.cpp:79
open3d::visualization::PointCloudPicker::GetMinBound
Eigen::Vector3d GetMinBound() const final
Returns min bounds for geometry coordinates.
Definition: PointCloudPicker.cpp:45
open3d::visualization::PointCloudPicker::GetMaxBound
Eigen::Vector3d GetMaxBound() const final
Returns max bounds for geometry coordinates.
Definition: PointCloudPicker.cpp:53
open3d::visualization::PointCloudPicker::GetAxisAlignedBoundingBox
geometry::AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const final
Returns an axis-aligned bounding box of the geometry.
Definition: PointCloudPicker.cpp:69