Open3D (C++ API)  0.12.0
IntersectionTest.h
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26 
27 #pragma once
28 
29 #include <Eigen/Dense>
30 
31 #include "BoundingVolume.h"
32 #include "Line3D.h"
33 
34 namespace open3d {
35 namespace geometry {
36 
38 public:
39  static bool AABBAABB(const Eigen::Vector3d& min0,
40  const Eigen::Vector3d& max0,
41  const Eigen::Vector3d& min1,
42  const Eigen::Vector3d& max1);
43 
44  static bool TriangleTriangle3d(const Eigen::Vector3d& p0,
45  const Eigen::Vector3d& p1,
46  const Eigen::Vector3d& p2,
47  const Eigen::Vector3d& q0,
48  const Eigen::Vector3d& q1,
49  const Eigen::Vector3d& q2);
50 
51  static bool TriangleAABB(const Eigen::Vector3d& box_center,
52  const Eigen::Vector3d& box_half_size,
53  const Eigen::Vector3d& vert0,
54  const Eigen::Vector3d& vert1,
55  const Eigen::Vector3d& vert2);
56 
58  static bool PointsCoplanar(const Eigen::Vector3d& p0,
59  const Eigen::Vector3d& p1,
60  const Eigen::Vector3d& p2,
61  const Eigen::Vector3d& p3);
62 
69  static double LinesMinimumDistance(const Eigen::Vector3d& p0,
70  const Eigen::Vector3d& p1,
71  const Eigen::Vector3d& q0,
72  const Eigen::Vector3d& q1);
73 
79  static double LineSegmentsMinimumDistance(const Eigen::Vector3d& p0,
80  const Eigen::Vector3d& p1,
81  const Eigen::Vector3d& q0,
82  const Eigen::Vector3d& q1);
83 
138  const Line3D& line, const AxisAlignedBoundingBox& box) {
139  return line.ExactAABB(box);
140  }
141 
194  const Line3D& line, const AxisAlignedBoundingBox& box) {
195  return line.SlabAABB(box);
196  }
197 };
198 
199 } // namespace geometry
200 } // namespace open3d
static double LineSegmentsMinimumDistance(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &q0, const Eigen::Vector3d &q1)
Definition: IntersectionTest.cpp:138
static bool PointsCoplanar(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, const Eigen::Vector3d &p3)
Tests if the given four points all lie on the same plane.
Definition: IntersectionTest.cpp:90
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:149
static utility::optional< double > LineSlabAABB(const Line3D &line, const AxisAlignedBoundingBox &box)
Returns the lower intersection parameter for a line with an axis aligned bounding box or no value if ...
Definition: IntersectionTest.h:193
static double LinesMinimumDistance(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &q0, const Eigen::Vector3d &q1)
Definition: IntersectionTest.cpp:97
static bool TriangleTriangle3d(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, const Eigen::Vector3d &q0, const Eigen::Vector3d &q1, const Eigen::Vector3d &q2)
Definition: IntersectionTest.cpp:53
static bool TriangleAABB(const Eigen::Vector3d &box_center, const Eigen::Vector3d &box_half_size, const Eigen::Vector3d &vert0, const Eigen::Vector3d &vert1, const Eigen::Vector3d &vert2)
Definition: IntersectionTest.cpp:77
static utility::optional< double > LineExactAABB(const Line3D &line, const AxisAlignedBoundingBox &box)
Returns the lower intersection parameter for a line with an axis aligned bounding box or empty if no ...
Definition: IntersectionTest.h:137
Definition: Optional.h:54
Definition: PinholeCameraIntrinsic.cpp:35
static bool AABBAABB(const Eigen::Vector3d &min0, const Eigen::Vector3d &max0, const Eigen::Vector3d &min1, const Eigen::Vector3d &max1)
Definition: IntersectionTest.cpp:37
virtual utility::optional< double > SlabAABB(const AxisAlignedBoundingBox &box) const
Returns the lower intersection parameter for a line with an axis aligned bounding box or empty if no ...
Definition: Line3D.cpp:129
virtual utility::optional< double > ExactAABB(const AxisAlignedBoundingBox &box) const
Returns the lower intersection parameter for a line with an axis aligned bounding box or empty if no ...
Definition: Line3D.cpp:65
Line3D is a class which derives from Eigen::ParametrizedLine<double, 3> in order to capture the seman...
Definition: Line3D.h:68
Definition: IntersectionTest.h:37