Open3D (C++ API)
0.12.0
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LineSet define a sets of lines in 3D. A typical application is to display the point cloud correspondence pairs. More...
#include <LineSet.h>
Public Member Functions | |
LineSet () | |
Default Constructor. More... | |
LineSet (const std::vector< Eigen::Vector3d > &points, const std::vector< Eigen::Vector2i > &lines) | |
Parameterized Constructor. More... | |
~LineSet () override | |
LineSet & | Clear () override |
Clear all elements in the geometry. More... | |
bool | IsEmpty () const override |
Returns true iff the geometry is empty. More... | |
Eigen::Vector3d | GetMinBound () const override |
Returns min bounds for geometry coordinates. More... | |
Eigen::Vector3d | GetMaxBound () const override |
Returns max bounds for geometry coordinates. More... | |
Eigen::Vector3d | GetCenter () const override |
Returns the center of the geometry coordinates. More... | |
AxisAlignedBoundingBox | GetAxisAlignedBoundingBox () const override |
Returns an axis-aligned bounding box of the geometry. More... | |
OrientedBoundingBox | GetOrientedBoundingBox () const override |
Returns an oriented bounding box of the geometry. More... | |
LineSet & | Transform (const Eigen::Matrix4d &transformation) override |
Apply transformation (4x4 matrix) to the geometry coordinates. More... | |
LineSet & | Translate (const Eigen::Vector3d &translation, bool relative=true) override |
Apply translation to the geometry coordinates. More... | |
LineSet & | Scale (const double scale, const Eigen::Vector3d ¢er) override |
Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to . More... | |
LineSet & | Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d ¢er) override |
Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to . More... | |
LineSet & | operator+= (const LineSet &lineset) |
LineSet | operator+ (const LineSet &lineset) const |
bool | HasPoints () const |
Returns true if the object contains points. More... | |
bool | HasLines () const |
Returns true if the object contains lines. More... | |
bool | HasColors () const |
Returns true if the objects lines contains colors. More... | |
std::pair< Eigen::Vector3d, Eigen::Vector3d > | GetLineCoordinate (size_t line_index) const |
Returns the coordinates of the line at the given index. More... | |
LineSet & | PaintUniformColor (const Eigen::Vector3d &color) |
Assigns each line in the LineSet the same color. More... | |
Public Member Functions inherited from open3d::geometry::Geometry3D | |
~Geometry3D () override | |
virtual Geometry3D & | Rotate (const Eigen::Matrix3d &R) |
Public Member Functions inherited from open3d::geometry::Geometry | |
virtual | ~Geometry () |
GeometryType | GetGeometryType () const |
Returns one of registered geometry types. More... | |
int | Dimension () const |
Returns whether the geometry is 2D or 3D. More... | |
std::string | GetName () const |
void | SetName (const std::string &name) |
Static Public Member Functions | |
static std::shared_ptr< LineSet > | CreateFromPointCloudCorrespondences (const PointCloud &cloud0, const PointCloud &cloud1, const std::vector< std::pair< int, int >> &correspondences) |
Factory function to create a LineSet from two PointClouds (cloud0 , cloud1 ) and a correspondence set. More... | |
static std::shared_ptr< LineSet > | CreateFromOrientedBoundingBox (const OrientedBoundingBox &box) |
Factory function to create a LineSet from an OrientedBoundingBox. More... | |
static std::shared_ptr< LineSet > | CreateFromAxisAlignedBoundingBox (const AxisAlignedBoundingBox &box) |
Factory function to create a LineSet from an AxisAlignedBoundingBox. More... | |
static std::shared_ptr< LineSet > | CreateFromTriangleMesh (const TriangleMesh &mesh) |
static std::shared_ptr< LineSet > | CreateFromTetraMesh (const TetraMesh &mesh) |
Static Public Member Functions inherited from open3d::geometry::Geometry3D | |
static Eigen::Matrix3d | GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation) |
Get Rotation Matrix from XYZ RotationType. More... | |
static Eigen::Matrix3d | GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation) |
Get Rotation Matrix from YZX RotationType. More... | |
static Eigen::Matrix3d | GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation) |
Get Rotation Matrix from ZXY RotationType. More... | |
static Eigen::Matrix3d | GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation) |
Get Rotation Matrix from XZY RotationType. More... | |
static Eigen::Matrix3d | GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation) |
Get Rotation Matrix from ZYX RotationType. More... | |
static Eigen::Matrix3d | GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation) |
Get Rotation Matrix from YXZ RotationType. More... | |
static Eigen::Matrix3d | GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation) |
Get Rotation Matrix from AxisAngle RotationType. More... | |
static Eigen::Matrix3d | GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation) |
Get Rotation Matrix from Quaternion. More... | |
Data Fields | |
std::vector< Eigen::Vector3d > | points_ |
Points coordinates. More... | |
std::vector< Eigen::Vector2i > | lines_ |
Lines denoted by the index of points forming the line. More... | |
std::vector< Eigen::Vector3d > | colors_ |
RGB colors of lines. More... | |
Additional Inherited Members | |
Public Types inherited from open3d::geometry::Geometry | |
enum | GeometryType { GeometryType::Unspecified = 0, GeometryType::PointCloud = 1, GeometryType::VoxelGrid = 2, GeometryType::Octree = 3, GeometryType::LineSet = 4, GeometryType::MeshBase = 5, GeometryType::TriangleMesh = 6, GeometryType::HalfEdgeTriangleMesh = 7, GeometryType::Image = 8, GeometryType::RGBDImage = 9, GeometryType::TetraMesh = 10, GeometryType::OrientedBoundingBox = 11, GeometryType::AxisAlignedBoundingBox = 12 } |
Specifies possible geometry types. More... | |
Protected Member Functions inherited from open3d::geometry::Geometry3D | |
Geometry3D (GeometryType type) | |
Parameterized Constructor. More... | |
Eigen::Vector3d | ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const |
Compute min bound of a list points. More... | |
Eigen::Vector3d | ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const |
Compute max bound of a list points. More... | |
Eigen::Vector3d | ComputeCenter (const std::vector< Eigen::Vector3d > &points) const |
Computer center of a list of points. More... | |
void | ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, const size_t size, const Eigen::Vector3d &color) const |
Resizes the colors vector and paints a uniform color. More... | |
void | TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const |
Transforms all points with the transformation matrix. More... | |
void | TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const |
Transforms the normals with the transformation matrix. More... | |
void | TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const |
Apply translation to the geometry coordinates. More... | |
void | ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d ¢er) const |
Scale the coordinates of all points by the scaling factor scale . More... | |
void | RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d ¢er) const |
Rotate all points with the rotation matrix R . More... | |
void | RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals) const |
Rotate all normals with the rotation matrix R . More... | |
Protected Member Functions inherited from open3d::geometry::Geometry | |
Geometry (GeometryType type, int dimension) | |
Parameterized Constructor. More... | |
LineSet define a sets of lines in 3D. A typical application is to display the point cloud correspondence pairs.
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Default Constructor.
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Parameterized Constructor.
Create a LineSet from given points and line indices
points | Point coordinates. |
lines | Lines denoted by the index of points forming the line. |
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Clear all elements in the geometry.
Implements open3d::geometry::Geometry3D.
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Factory function to create a LineSet from an AxisAlignedBoundingBox.
box | The input bounding box. |
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Factory function to create a LineSet from an OrientedBoundingBox.
box | The input bounding box. |
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Factory function to create a LineSet from two PointClouds (cloud0
, cloud1
) and a correspondence set.
cloud0 | First point cloud. |
cloud1 | Second point cloud. |
correspondences | Set of correspondences. |
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Factory function to create a LineSet from edges of a tetra mesh.
mesh | The input tetra mesh. |
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Factory function to create a LineSet from edges of a triangle mesh.
mesh | The input triangle mesh. |
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Returns an axis-aligned bounding box of the geometry.
Implements open3d::geometry::Geometry3D.
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Returns the center of the geometry coordinates.
Implements open3d::geometry::Geometry3D.
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Returns the coordinates of the line at the given index.
line_index | Index of the line. |
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overridevirtual |
Returns max bounds for geometry coordinates.
Implements open3d::geometry::Geometry3D.
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Returns min bounds for geometry coordinates.
Implements open3d::geometry::Geometry3D.
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Returns an oriented bounding box of the geometry.
Implements open3d::geometry::Geometry3D.
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Returns true
if the objects lines contains colors.
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Returns true
if the object contains lines.
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Returns true
if the object contains points.
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Returns true
iff the geometry is empty.
Implements open3d::geometry::Geometry3D.
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Assigns each line in the LineSet the same color.
color | Specifies the color to be applied. |
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Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to .
R | A 3x3 rotation matrix |
center | Rotation center that is used for the rotation. |
Implements open3d::geometry::Geometry3D.
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Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to .
scale | The scale parameter that is multiplied to the points/vertices of the geometry. |
center | Scale center that is used to resize the geometry. |
Implements open3d::geometry::Geometry3D.
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overridevirtual |
Apply transformation (4x4 matrix) to the geometry coordinates.
Implements open3d::geometry::Geometry3D.
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overridevirtual |
Apply translation to the geometry coordinates.
translation | A 3D vector to transform the geometry. |
relative | If true , the translation is directly applied to the geometry. Otherwise, the geometry center is moved to the translation . |
Implements open3d::geometry::Geometry3D.
std::vector<Eigen::Vector3d> open3d::geometry::LineSet::colors_ |
RGB colors of lines.
std::vector<Eigen::Vector2i> open3d::geometry::LineSet::lines_ |
Lines denoted by the index of points forming the line.
std::vector<Eigen::Vector3d> open3d::geometry::LineSet::points_ |
Points coordinates.