open3d.geometry.AxisAlignedBoundingBox¶

class open3d.geometry.AxisAlignedBoundingBox¶

Class that defines an axis_aligned box that can be computed from 3D geometries, The axis aligned bounding box uses the cooridnate axes for bounding box generation.

class Type¶

Enum class for Geometry types.

HalfEdgeTriangleMesh = <Type.HalfEdgeTriangleMesh: 7>¶

Image = <Type.Image: 8>¶

LineSet = <Type.LineSet: 4>¶

PointCloud = <Type.PointCloud: 1>¶

RGBDImage = <Type.RGBDImage: 9>¶

TetraMesh = <Type.TetraMesh: 10>¶

TriangleMesh = <Type.TriangleMesh: 6>¶

Unspecified = <Type.Unspecified: 0>¶

VoxelGrid = <Type.VoxelGrid: 2>¶

property value¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: open3d.cpu.pybind.geometry.AxisAlignedBoundingBox) -> None

Default constructor

__init__(self: open3d.cpu.pybind.geometry.AxisAlignedBoundingBox, arg0: open3d.cpu.pybind.geometry.AxisAlignedBoundingBox) -> None

Copy constructor

__init__(self: open3d.cpu.pybind.geometry.AxisAlignedBoundingBox, min_bound: numpy.ndarray[numpy.float64[3, 1]], max_bound: numpy.ndarray[numpy.float64[3, 1]]) -> None

Create an AxisAlignedBoundingBox from min bounds and max bounds in x, y and z

clear(self)¶

Clear all elements in the geometry.

Returns: open3d.geometry.Geometry

static create_from_points(points)¶

Creates the bounding box that encloses the set of points.

Parameters: points (open3d.utility.Vector3dVector) – A list of points.
Returns: open3d.geometry.AxisAlignedBoundingBox

dimension(self)¶

Returns whether the geometry is 2D or 3D.

Returns: int

get_axis_aligned_bounding_box(self)¶

Returns an axis-aligned bounding box of the geometry.

Returns: open3d.geometry.AxisAlignedBoundingBox

get_box_points(self)¶

Returns the eight points that define the bounding box.

Returns: open3d.utility.Vector3dVector

get_center(self)¶

Returns the center of the geometry coordinates.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_extent(self)¶

Get the extent/length of the bounding box in x, y, and z dimension.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_geometry_type(self)¶

Returns one of registered geometry types.

Returns: open3d.geometry.Geometry.GeometryType

get_half_extent(self)¶

Returns the half extent of the bounding box.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_max_bound(self)¶

Returns max bounds for geometry coordinates.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_max_extent(self)¶

Returns the maximum extent, i.e. the maximum of X, Y and Z axis

Returns: float

get_min_bound(self)¶

Returns min bounds for geometry coordinates.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_oriented_bounding_box(self)¶

Returns an oriented bounding box of the geometry.

Returns: open3d.geometry.OrientedBoundingBox

get_point_indices_within_bounding_box(self, points)¶

Return indices to points that are within the bounding box.

Parameters: points (open3d.utility.Vector3dVector) – A list of points.
Returns: List[int]

get_print_info(self)¶

Returns the 3D dimensions of the bounding box in string format.

Returns: str

static get_rotation_matrix_from_axis_angle(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_quaternion(rotation: numpy.ndarray[numpy.float64[4, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_xyz(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_xzy(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_yxz(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_yzx(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_zxy(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_zyx(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

is_empty(self)¶

Returns True iff the geometry is empty.

Returns: bool

rotate(*args, **kwargs)¶

Overloaded function.

rotate(self, R)
Apply rotation to the geometry coordinates and normals.

Parameters: R (numpy.ndarray[numpy.float64[3, 3]]) – The rotation matrix
Returns: open3d.geometry.Geometry3D

rotate(self, R, center)
Apply rotation to the geometry coordinates and normals.

Parameters

R (numpy.ndarray[numpy.float64[3, 3]]) – The rotation matrix
center (numpy.ndarray[numpy.float64[3, 1]]) – Rotation center used for transformation.

Returns

open3d.geometry.Geometry3D

scale(*args, **kwargs)¶

Overloaded function.

scale(self, scale, center)
Apply scaling to the geometry coordinates.

Parameters

scale (float) – The scale parameter that is multiplied to the points/vertices of the geometry.
center (numpy.ndarray[numpy.float64[3, 1]]) – Scale center used for transformation.

Returns

open3d.geometry.Geometry3D

scale(self, scale, center)
Apply scaling to the geometry coordinates.

Parameters

scale (float) – The scale parameter that is multiplied to the points/vertices of the geometry.
center (numpy.ndarray[numpy.float64[3, 1]]) – Scale center used for transformation.

Returns

open3d.geometry.Geometry3D

transform(self, arg0)¶

Apply transformation (4x4 matrix) to the geometry coordinates.

Parameters: arg0 (numpy.ndarray[numpy.float64[4, 4]]) –
Returns: open3d.geometry.Geometry3D

translate(self, translation, relative=True)¶

Apply translation to the geometry coordinates.

Parameters

translation (numpy.ndarray[numpy.float64[3, 1]]) – A 3D vector to transform the geometry
relative (bool, optional, default=True) – If true, the translation vector is directly added to the geometry coordinates. Otherwise, the center is moved to the translation vector.

Returns

open3d.geometry.Geometry3D

volume(self)¶

Returns the volume of the bounding box.

Returns: float

HalfEdgeTriangleMesh = <Type.HalfEdgeTriangleMesh: 7>¶

Image = <Type.Image: 8>¶

LineSet = <Type.LineSet: 4>¶

PointCloud = <Type.PointCloud: 1>¶

RGBDImage = <Type.RGBDImage: 9>¶

TetraMesh = <Type.TetraMesh: 10>¶

TriangleMesh = <Type.TriangleMesh: 6>¶

Unspecified = <Type.Unspecified: 0>¶

VoxelGrid = <Type.VoxelGrid: 2>¶

property color¶: float64 array of shape (3, )

property max_bound¶: float64 array of shape (3, )

property min_bound¶: float64 array of shape (3, )