Open3D (C++ API)  0.12.0
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_(0, 0, 0) {}
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;
77  virtual OrientedBoundingBox GetOrientedBoundingBox() const override;
79  const Eigen::Matrix4d& transformation) override;
80  virtual OrientedBoundingBox& Translate(const Eigen::Vector3d& translation,
81  bool relative = true) override;
82  virtual OrientedBoundingBox& Scale(const double scale,
83  const Eigen::Vector3d& center) override;
84  virtual OrientedBoundingBox& Rotate(const Eigen::Matrix3d& R,
85  const Eigen::Vector3d& center) override;
86 
88  double Volume() const;
89 
109  std::vector<Eigen::Vector3d> GetBoxPoints() const;
110 
112  std::vector<size_t> GetPointIndicesWithinBoundingBox(
113  const std::vector<Eigen::Vector3d>& points) const;
114 
120  const AxisAlignedBoundingBox& aabox);
121 
128  const std::vector<Eigen::Vector3d>& points);
129 
130 public:
132  Eigen::Vector3d center_;
135  Eigen::Matrix3d R_;
137  Eigen::Vector3d extent_;
139  Eigen::Vector3d color_;
140 };
141 
150 public:
156  min_bound_(0, 0, 0),
157  max_bound_(0, 0, 0),
158  color_(0, 0, 0) {}
163  AxisAlignedBoundingBox(const Eigen::Vector3d& min_bound,
164  const Eigen::Vector3d& max_bound)
166  min_bound_(min_bound),
167  max_bound_(max_bound),
168  color_(0, 0, 0) {}
170 
171 public:
172  AxisAlignedBoundingBox& Clear() override;
173  bool IsEmpty() const override;
174  virtual Eigen::Vector3d GetMinBound() const override;
175  virtual Eigen::Vector3d GetMaxBound() const override;
176  virtual Eigen::Vector3d GetCenter() const override;
177  virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
178  virtual OrientedBoundingBox GetOrientedBoundingBox() const override;
180  const Eigen::Matrix4d& transformation) override;
182  const Eigen::Vector3d& translation, bool relative = true) override;
183 
193  virtual AxisAlignedBoundingBox& Scale(
194  const double scale, const Eigen::Vector3d& center) override;
195 
199  const Eigen::Matrix3d& R, const Eigen::Vector3d& center) override;
200 
201  AxisAlignedBoundingBox& operator+=(const AxisAlignedBoundingBox& other);
202 
204  Eigen::Vector3d GetExtent() const { return (max_bound_ - min_bound_); }
205 
207  Eigen::Vector3d GetHalfExtent() const { return GetExtent() * 0.5; }
208 
211  double GetMaxExtent() const { return (max_bound_ - min_bound_).maxCoeff(); }
212 
213  double GetXPercentage(double x) const {
214  return (x - min_bound_(0)) / (max_bound_(0) - min_bound_(0));
215  }
216 
217  double GetYPercentage(double y) const {
218  return (y - min_bound_(1)) / (max_bound_(1) - min_bound_(1));
219  }
220 
221  double GetZPercentage(double z) const {
222  return (z - min_bound_(2)) / (max_bound_(2) - min_bound_(2));
223  }
224 
226  double Volume() const;
228  std::vector<Eigen::Vector3d> GetBoxPoints() const;
229 
233  std::vector<size_t> GetPointIndicesWithinBoundingBox(
234  const std::vector<Eigen::Vector3d>& points) const;
235 
237  std::string GetPrintInfo() const;
238 
243  const std::vector<Eigen::Vector3d>& points);
244 
245 public:
247  Eigen::Vector3d min_bound_;
249  Eigen::Vector3d max_bound_;
251  Eigen::Vector3d color_;
252 };
253 
254 } // namespace geometry
255 } // namespace open3d
OrientedBoundingBox & Clear() override
Clear all elements in the geometry.
Definition: BoundingVolume.cpp:40
The base geometry class.
Definition: Geometry.h:37
Eigen::Matrix3d R_
Definition: BoundingVolume.h:135
Eigen::Vector3d max_bound_
The upper x, y, z bounds of the bounding box.
Definition: BoundingVolume.h:249
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:149
~AxisAlignedBoundingBox() override
Definition: BoundingVolume.h:169
double GetXPercentage(double x) const
Definition: BoundingVolume.h:213
Eigen::Vector3d extent_
The extent of the bounding box in its frame of reference.
Definition: BoundingVolume.h:137
double Volume() const
Returns the volume of the bounding box.
Definition: BoundingVolume.cpp:102
static OrientedBoundingBox CreateFromPoints(const std::vector< Eigen::Vector3d > &points)
Definition: BoundingVolume.cpp:148
A bounding box oriented along an arbitrary frame of reference.
Definition: BoundingVolume.h:44
Eigen::Vector3d min_bound_
The lower x, y, z bounds of the bounding box.
Definition: BoundingVolume.h:247
bool IsEmpty() const override
Returns true iff the geometry is empty.
Definition: BoundingVolume.cpp:48
virtual Eigen::Vector3d GetCenter() const override
Returns the center of the geometry coordinates.
Definition: BoundingVolume.cpp:60
double GetMaxExtent() const
Definition: BoundingVolume.h:211
virtual OrientedBoundingBox & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition: BoundingVolume.cpp:70
double GetZPercentage(double z) const
Definition: BoundingVolume.h:221
virtual OrientedBoundingBox & Translate(const Eigen::Vector3d &translation, bool relative=true) override
Apply translation to the geometry coordinates.
Definition: BoundingVolume.cpp:78
std::vector< Eigen::Vector3d > GetBoxPoints() const
Definition: BoundingVolume.cpp:106
The base geometry class for 3D geometries.
Definition: Geometry3D.h:46
virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override
Returns an axis-aligned bounding box of the geometry.
Definition: BoundingVolume.cpp:62
virtual Eigen::Vector3d GetMinBound() const override
Returns min bounds for geometry coordinates.
Definition: BoundingVolume.cpp:50
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
Eigen::Vector3d color_
The color of the bounding box in RGB.
Definition: BoundingVolume.h:251
OrientedBoundingBox()
Default constructor.
Definition: BoundingVolume.h:49
~OrientedBoundingBox() override
Definition: BoundingVolume.h:68
double GetYPercentage(double y) const
Definition: BoundingVolume.h:217
virtual OrientedBoundingBox GetOrientedBoundingBox() const override
Returns an oriented bounding box of the geometry.
Definition: BoundingVolume.cpp:66
AxisAlignedBoundingBox(const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound)
Parameterized constructor.
Definition: BoundingVolume.h:163
int points
Definition: FilePCD.cpp:73
OrientedBoundingBox(const Eigen::Vector3d &center, const Eigen::Matrix3d &R, const Eigen::Vector3d &extent)
Parameterized constructor.
Definition: BoundingVolume.h:61
Definition: PinholeCameraIntrinsic.cpp:35
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 & 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
Eigen::Vector3d color_
The color of the bounding box in RGB.
Definition: BoundingVolume.h:139
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:42
Eigen::Vector3d GetExtent() const
Get the extent/length of the bounding box in x, y, and z dimension.
Definition: BoundingVolume.h:204
virtual Eigen::Vector3d GetMaxBound() const override
Returns max bounds for geometry coordinates.
Definition: BoundingVolume.cpp:55
AxisAlignedBoundingBox()
Default constructor.
Definition: BoundingVolume.h:154
static OrientedBoundingBox CreateFromAxisAlignedBoundingBox(const AxisAlignedBoundingBox &aabox)
Definition: BoundingVolume.cpp:139
Eigen::Vector3d GetHalfExtent() const
Returns the half extent of the bounding box.
Definition: BoundingVolume.h:207
Eigen::Vector3d center_
The center point of the bounding box.
Definition: BoundingVolume.h:132