open3d.t.geometry.AxisAlignedBoundingBox

class open3d.t.geometry.AxisAlignedBoundingBox

A bounding box that is aligned along the coordinate axes and defined by the min_bound and max_bound.” - (min_bound, max_bound): Lower and upper bounds of the bounding box for all axes.

  • Usage

    • AxisAlignedBoundingBox::GetMinBound()

    • AxisAlignedBoundingBox::SetMinBound(const core::Tensor &min_bound)

    • AxisAlignedBoundingBox::GetMaxBound()

    • AxisAlignedBoundingBox::SetMaxBound(const core::Tensor &max_bound)

  • Value tensor must have shape {3,}.

  • Value tensor must have the same data type and device.

  • Value tensor can only be float32 (default) or float64.

  • The device of the tensor determines the device of the box.

  • color: Color of the bounding box.
    • Usage

      • AxisAlignedBoundingBox::GetColor()

      • AxisAlignedBoundingBox::SetColor(const core::Tensor &color)

    • Value tensor must have shape {3,}.

    • Value tensor can only be float32 (default) or float64.

    • Value tensor can only be range [0.0, 1.0].

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self, device=CPU:0)

    Construct an empty axis-aligned box on the provided device.

Parameters

  • (open3d.core.Device (device) –

  • optional –

  • default=CPU –

  1. __init__(self, min_bound, max_bound)

    Construct an axis-aligned box from min/max bound.

The axis-aligned box will be created on the device of the given bound tensor, which must be on the same device and have the same data type.

Parameters

  • min_bound (open3d.core.Tensor) – Lower bounds of the bounding box for all axes. Tensor with {3,} shape, and type float32 or float64

  • max_bound (open3d.core.Tensor) – Upper bounds of the bounding box for all axes. Tensor with {3,} shape, and type float32 or float64

clear(self)

Clear all elements in the geometry.

Returns

open3d.t.geometry.Geometry

clone(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox

Returns copy of the axis-aligned box on the same device.

cpu(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox

Transfer the axis-aligned box to CPU. If the axis-aligned box is already on CPU, no copy will be performed.

static create_from_points(points)

Creates the axis-aligned box that encloses the set of points.

Parameters

points (open3d.core.Tensor) – A list of points with data type of float32 or float64 (N x 3 tensor, where N must be larger than 3).

Returns

open3d.t.geometry.AxisAlignedBoundingBox

cuda(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox, device_id: int = 0) → open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox

Transfer the axis-aligned box to a CUDA device. If the axis-aligned box is already on the specified CUDA device, no copy will be performed.

static from_legacy(box: open3d.cpu.pybind.geometry.AxisAlignedBoundingBox, dtype: open3d.cpu.pybind.core.Dtype = Float32, device: open3d.cpu.pybind.core.Device = CPU:0) → open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox

Create an AxisAlignedBoundingBox from a legacy Open3D axis-aligned box.

get_box_points(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → open3d.cpu.pybind.core.Tensor

Returns the eight points that define the bounding box. The Return tensor has shape {8, 3} and data type of float32.

get_center(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → open3d.cpu.pybind.core.Tensor

Returns the center for box coordinates.

get_color(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → open3d.cpu.pybind.core.Tensor

Returns the color for box.

get_extent(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → open3d.cpu.pybind.core.Tensor

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

get_half_extent(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → open3d.cpu.pybind.core.Tensor

Returns the half extent of the bounding box.

get_max_bound(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → open3d.cpu.pybind.core.Tensor

Returns the max bound for box coordinates.

get_max_extent(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → float

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

get_min_bound(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → open3d.cpu.pybind.core.Tensor

Returns the min bound for box coordinates.

get_point_indices_within_bounding_box(self, points)

Indices to points that are within the bounding box.

Parameters

points (open3d.core.Tensor) – Tensor with {N, 3} shape, and type float32 or float64.

Returns

open3d.core.Tensor

has_valid_material(self: open3d.cpu.pybind.t.geometry.DrawableGeometry) → bool

Returns true if the geometry’s material is valid.

is_empty(self)

Returns True iff the geometry is empty.

Returns

bool

scale(self, scale, center)

Scale the axis-aligned box. If f$mif$ is the min_bound and f$maf$ is the max_bound of the axis aligned bounding box, and f$sf$ and f$cf$ are the provided scaling factor and center respectively, then the new min_bound and max_bound are given by f$mi = c + s (mi - c)f$ and f$ma = c + s (ma - c)f$.

Parameters

  • scale (float) – The scale parameter.

  • center (open3d.core.Tensor) – Center used for the scaling operation. Tensor with {3,} shape, and type float32 or float64

Returns

open3d.t.geometry.AxisAlignedBoundingBox

set_color(self, color)

Set the color of the axis-aligned box.

Parameters

color (open3d.core.Tensor) – Tensor with {3,} shape, and type float32 or float64, with values in range [0.0, 1.0].

Returns

None

set_max_bound(self, max_bound)

Set the upper bound of the axis-aligned box.

Parameters

max_bound (open3d.core.Tensor) – Tensor with {3,} shape, and type float32 or float64.

Returns

None

set_min_bound(self, min_bound)

Set the lower bound of the axis-aligned box.

Parameters

min_bound (open3d.core.Tensor) – Tensor with {3,} shape, and type float32 or float64.

Returns

None

to(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox, device: open3d.cpu.pybind.core.Device, copy: bool = False) → open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox

Transfer the axis-aligned box to a specified device.

to_legacy(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → open3d.cpu.pybind.geometry.AxisAlignedBoundingBox

Convert to a legacy Open3D axis-aligned box.

translate(self, translation, relative=True)

Translate the axis-aligned box by the given translation. If relative is true, the translation is applied to the current min and max bound. If relative is false, the translation is applied to make the box’s center at the given translation.

Parameters

  • translation (open3d.core.Tensor) – Translation tensor of shape (3,), type float32 or float64, device same as the box.

  • relative (bool, optional, default=True) – Whether to perform relative translation.

Returns

open3d.t.geometry.AxisAlignedBoundingBox

volume(self: open3d.cpu.pybind.t.geometry.AxisAlignedBoundingBox) → float

Returns the volume of the bounding box.

property device

Returns the device of the geometry.

property is_cpu

Returns true if the geometry is on CPU.

property is_cuda

Returns true if the geometry is on CUDA.

property material