36 class AxisAlignedBoundingBox;
52 R_(
Eigen::Matrix3d::Identity()),
62 const Eigen::Matrix3d& R,
63 const Eigen::Vector3d& extent)
73 virtual Eigen::Vector3d
GetMinBound()
const override;
74 virtual Eigen::Vector3d
GetMaxBound()
const override;
75 virtual Eigen::Vector3d
GetCenter()
const override;
79 const Eigen::Matrix4d& transformation)
override;
81 bool relative =
true)
override;
83 bool center =
true)
override;
85 bool center =
true)
override;
94 const std::vector<Eigen::Vector3d>&
points)
const;
109 const std::vector<Eigen::Vector3d>&
points);
145 const Eigen::Vector3d& max_bound)
155 virtual Eigen::Vector3d
GetMinBound()
const override;
156 virtual Eigen::Vector3d
GetMaxBound()
const override;
157 virtual Eigen::Vector3d
GetCenter()
const override;
161 const Eigen::Matrix4d& transformation)
override;
163 const Eigen::Vector3d& translation,
bool relative =
true)
override;
165 bool center =
true)
override;
167 bool center =
true)
override;
202 const std::vector<Eigen::Vector3d>&
points)
const;
211 const std::vector<Eigen::Vector3d>&
points);
int points
Definition: FilePCD.cpp:70
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:130
Eigen::Vector3d GetHalfExtent() const
Returns the half extent of the bounding box.
Definition: BoundingVolume.h:175
double Volume() const
Returns the volume of the bounding box.
Definition: BoundingVolume.cpp:326
AxisAlignedBoundingBox()
Default constructor.
Definition: BoundingVolume.h:135
virtual AxisAlignedBoundingBox & Rotate(const Eigen::Matrix3d &R, bool center=true) override
Apply rotation to the geometry coordinates and normals.
Definition: BoundingVolume.cpp:279
~AxisAlignedBoundingBox() override
Definition: BoundingVolume.h:150
virtual Eigen::Vector3d GetCenter() const override
Returns the center of the geometry coordinates.
Definition: BoundingVolume.cpp:232
double GetXPercentage(double x) const
Definition: BoundingVolume.h:181
virtual AxisAlignedBoundingBox & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition: BoundingVolume.cpp:245
Eigen::Vector3d min_bound_
The lower x, y, z bounds of the bounding box.
Definition: BoundingVolume.h:215
virtual AxisAlignedBoundingBox & Scale(const double scale, bool center=true) override
Apply scaling to the geometry coordinates.
Definition: BoundingVolume.cpp:266
virtual Eigen::Vector3d GetMinBound() const override
Returns min bounds for geometry coordinates.
Definition: BoundingVolume.cpp:224
bool IsEmpty() const override
Returns true iff the geometry is empty.
Definition: BoundingVolume.cpp:223
virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override
Returns an axis-aligned bounding box of the geometry.
Definition: BoundingVolume.cpp:236
virtual AxisAlignedBoundingBox & Translate(const Eigen::Vector3d &translation, bool relative=true) override
Apply translation to the geometry coordinates.
Definition: BoundingVolume.cpp:253
AxisAlignedBoundingBox & operator+=(const AxisAlignedBoundingBox &other)
Definition: BoundingVolume.cpp:293
Eigen::Vector3d GetExtent() const
Get the extent/length of the bounding box in x, y, and z dimension.
Definition: BoundingVolume.h:172
std::string GetPrintInfo() const
Returns the 3D dimensions of the bounding box in string format.
Definition: BoundingVolume.cpp:287
AxisAlignedBoundingBox & Clear() override
Clear all elements in the geometry.
Definition: BoundingVolume.cpp:217
double GetZPercentage(double z) const
Definition: BoundingVolume.h:189
static AxisAlignedBoundingBox CreateFromPoints(const std::vector< Eigen::Vector3d > &points)
Definition: BoundingVolume.cpp:305
double GetMaxExtent() const
Definition: BoundingVolume.h:179
double GetYPercentage(double y) const
Definition: BoundingVolume.h:185
virtual OrientedBoundingBox GetOrientedBoundingBox() const override
Returns an oriented bounding box of the geometry.
Definition: BoundingVolume.cpp:241
std::vector< Eigen::Vector3d > GetBoxPoints() const
Returns the eight points that define the bounding box.
Definition: BoundingVolume.cpp:328
std::vector< size_t > GetPointIndicesWithinBoundingBox(const std::vector< Eigen::Vector3d > &points) const
Definition: BoundingVolume.cpp:342
AxisAlignedBoundingBox(const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound)
Parameterized constructor.
Definition: BoundingVolume.h:144
Eigen::Vector3d color_
The color of the bounding box in RGB.
Definition: BoundingVolume.h:219
virtual Eigen::Vector3d GetMaxBound() const override
Returns max bounds for geometry coordinates.
Definition: BoundingVolume.cpp:228
Eigen::Vector3d max_bound_
The upper x, y, z bounds of the bounding box.
Definition: BoundingVolume.h:217
The base geometry class for 3D geometries.
Definition: Geometry3D.h:46
The base geometry class.
Definition: Geometry.h:35
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:40
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:118
OrientedBoundingBox()
Default constructor.
Definition: BoundingVolume.h:49
OrientedBoundingBox & Clear() override
Clear all elements in the geometry.
Definition: BoundingVolume.cpp:40
virtual OrientedBoundingBox & Rotate(const Eigen::Matrix3d &R, bool center=true) override
Apply rotation to the geometry coordinates and normals.
Definition: BoundingVolume.cpp:99
Eigen::Vector3d color_
The color of the bounding box in RGB.
Definition: BoundingVolume.h:120
Eigen::Matrix3d R_
Definition: BoundingVolume.h:116
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 ¢er, const Eigen::Matrix3d &R, const Eigen::Vector3d &extent)
Parameterized constructor.
Definition: BoundingVolume.h:61
virtual OrientedBoundingBox & Scale(const double scale, bool center=true) override
Apply scaling to the geometry coordinates.
Definition: BoundingVolume.cpp:88
std::vector< Eigen::Vector3d > GetBoxPoints() const
Returns the eight points that define the bounding box.
Definition: BoundingVolume.cpp:114
static OrientedBoundingBox CreateFromAxisAlignedBoundingBox(const AxisAlignedBoundingBox &aabox)
Definition: BoundingVolume.cpp:160
double Volume() const
Returns the volume of the bounding box.
Definition: BoundingVolume.cpp:110
static OrientedBoundingBox CreateFromPoints(const std::vector< Eigen::Vector3d > &points)
Definition: BoundingVolume.cpp:169
virtual OrientedBoundingBox GetOrientedBoundingBox() const override
Returns an oriented bounding box of the geometry.
Definition: BoundingVolume.cpp:66
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:130
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:113
Definition: EigenHelperForNonRigidOptimization.h:33
Definition: PinholeCameraIntrinsic.cpp:34