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| Octree () |
| Default Constructor. More...
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| Octree (const size_t &max_depth) |
| Parameterized Constructor. More...
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| Octree (const size_t &max_depth, const Eigen::Vector3d &origin, const double &size) |
| Parameterized Constructor. More...
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| Octree (const Octree &src_octree) |
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| ~Octree () override |
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Octree & | Clear () override |
| Clear all elements in the geometry. More...
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bool | IsEmpty () const override |
| Returns true iff the geometry is empty. More...
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Eigen::Vector3d | GetMinBound () const override |
| Returns min bounds for geometry coordinates. More...
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Eigen::Vector3d | GetMaxBound () const override |
| Returns max bounds for geometry coordinates. More...
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Eigen::Vector3d | GetCenter () const override |
| Returns the center of the geometry coordinates. More...
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AxisAlignedBoundingBox | GetAxisAlignedBoundingBox () const override |
| Returns an axis-aligned bounding box of the geometry. More...
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OrientedBoundingBox | GetOrientedBoundingBox () const override |
| Returns an oriented bounding box of the geometry. More...
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Octree & | Transform (const Eigen::Matrix4d &transformation) override |
| Apply transformation (4x4 matrix) to the geometry coordinates. More...
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Octree & | Translate (const Eigen::Vector3d &translation, bool relative=true) override |
| Apply translation to the geometry coordinates. More...
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Octree & | 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...
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Octree & | 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...
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bool | ConvertToJsonValue (Json::Value &value) const override |
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bool | ConvertFromJsonValue (const Json::Value &value) override |
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void | ConvertFromPointCloud (const geometry::PointCloud &point_cloud, double size_expand=0.01) |
| Convert octree from point cloud. More...
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void | InsertPoint (const Eigen::Vector3d &point, const std::function< std::shared_ptr< OctreeLeafNode >()> &f_init, const std::function< void(std::shared_ptr< OctreeLeafNode >)> &f_update) |
| Insert a point to the octree. More...
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void | Traverse (const std::function< void(const std::shared_ptr< OctreeNode > &, const std::shared_ptr< OctreeNodeInfo > &)> &f) |
| DFS traversal of Octree from the root, with callback function called for each node. More...
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void | Traverse (const std::function< void(const std::shared_ptr< OctreeNode > &, const std::shared_ptr< OctreeNodeInfo > &)> &f) const |
| Const version of Traverse. DFS traversal of Octree from the root, with callback function called for each node. More...
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std::pair< std::shared_ptr< OctreeLeafNode >, std::shared_ptr< OctreeNodeInfo > > | LocateLeafNode (const Eigen::Vector3d &point) const |
| Returns leaf OctreeNode and OctreeNodeInfo where the querypoint should reside. More...
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bool | operator== (const Octree &other) const |
| Returns true if the Octree is completely the same, used for testing. More...
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std::shared_ptr< geometry::VoxelGrid > | ToVoxelGrid () const |
| Convert to VoxelGrid. More...
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void | CreateFromVoxelGrid (const geometry::VoxelGrid &voxel_grid) |
| Convert from voxel grid. More...
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| ~Geometry3D () override |
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virtual Geometry3D & | Rotate (const Eigen::Matrix3d &R) |
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virtual | ~Geometry () |
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GeometryType | GetGeometryType () const |
| Returns one of registered geometry types. More...
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int | Dimension () const |
| Returns whether the geometry is 2D or 3D. More...
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std::string | GetName () const |
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void | SetName (const std::string &name) |
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virtual | ~IJsonConvertible () |
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virtual std::string | ToString () const |
| Convert to a styled string representation of JSON data for display. More...
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static bool | IsPointInBound (const Eigen::Vector3d &point, const Eigen::Vector3d &origin, const double &size) |
| Return true if point within bound, that is, origin <= point < origin + size. More...
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static Eigen::Matrix3d | GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation) |
| Get Rotation Matrix from XYZ RotationType. More...
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static Eigen::Matrix3d | GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation) |
| Get Rotation Matrix from YZX RotationType. More...
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static Eigen::Matrix3d | GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation) |
| Get Rotation Matrix from ZXY RotationType. More...
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static Eigen::Matrix3d | GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation) |
| Get Rotation Matrix from XZY RotationType. More...
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static Eigen::Matrix3d | GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation) |
| Get Rotation Matrix from ZYX RotationType. More...
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static Eigen::Matrix3d | GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation) |
| Get Rotation Matrix from YXZ RotationType. More...
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static Eigen::Matrix3d | GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation) |
| Get Rotation Matrix from AxisAngle RotationType. More...
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static Eigen::Matrix3d | GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation) |
| Get Rotation Matrix from Quaternion. More...
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static bool | EigenVector3dFromJsonArray (Eigen::Vector3d &vec, const Json::Value &value) |
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static bool | EigenVector3dToJsonArray (const Eigen::Vector3d &vec, Json::Value &value) |
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static bool | EigenVector4dFromJsonArray (Eigen::Vector4d &vec, const Json::Value &value) |
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static bool | EigenVector4dToJsonArray (const Eigen::Vector4d &vec, Json::Value &value) |
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static bool | EigenMatrix3dFromJsonArray (Eigen::Matrix3d &mat, const Json::Value &value) |
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static bool | EigenMatrix3dToJsonArray (const Eigen::Matrix3d &mat, Json::Value &value) |
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static bool | EigenMatrix4dFromJsonArray (Eigen::Matrix4d &mat, const Json::Value &value) |
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static bool | EigenMatrix4dToJsonArray (const Eigen::Matrix4d &mat, Json::Value &value) |
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static bool | EigenMatrix4dFromJsonArray (Eigen::Matrix4d_u &mat, const Json::Value &value) |
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static bool | EigenMatrix4dToJsonArray (const Eigen::Matrix4d_u &mat, Json::Value &value) |
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static bool | EigenMatrix6dFromJsonArray (Eigen::Matrix6d &mat, const Json::Value &value) |
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static bool | EigenMatrix6dToJsonArray (const Eigen::Matrix6d &mat, Json::Value &value) |
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static bool | EigenMatrix6dFromJsonArray (Eigen::Matrix6d_u &mat, const Json::Value &value) |
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static bool | EigenMatrix6dToJsonArray (const Eigen::Matrix6d_u &mat, Json::Value &value) |
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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...
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| Geometry3D (GeometryType type) |
| Parameterized Constructor. More...
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Eigen::Vector3d | ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const |
| Compute min bound of a list points. More...
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Eigen::Vector3d | ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const |
| Compute max bound of a list points. More...
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Eigen::Vector3d | ComputeCenter (const std::vector< Eigen::Vector3d > &points) const |
| Computer center of a list of points. More...
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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...
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void | TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const |
| Transforms all points with the transformation matrix. More...
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void | TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const |
| Transforms the normals with the transformation matrix. More...
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void | TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const |
| Apply translation to the geometry coordinates. More...
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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...
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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...
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void | RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals) const |
| Rotate all normals with the rotation matrix R . More...
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| Geometry (GeometryType type, int dimension) |
| Parameterized Constructor. More...
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