A bounding box oriented along an arbitrary frame of reference. More...

#include <BoundingVolume.h>

Inheritance diagram for open3d::geometry::OrientedBoundingBox:

Public Member Functions
	OrientedBoundingBox ()
	Default constructor. More...

	OrientedBoundingBox (const Eigen::Vector3d &center, const Eigen::Matrix3d &R, const Eigen::Vector3d &extent)
	Parameterized constructor. More...

	~OrientedBoundingBox () override

OrientedBoundingBox &	Clear () override
	Clear all elements in the geometry. More...

bool	IsEmpty () const override
	Returns `true` iff the geometry is empty. More...

virtual Eigen::Vector3d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetCenter () const override
	Returns the center of the geometry coordinates. More...

virtual AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const override

virtual OrientedBoundingBox	GetOrientedBoundingBox (bool robust) const override
	Returns the object itself. More...

virtual OrientedBoundingBox	GetMinimalOrientedBoundingBox (bool robust) const override
	Returns the object itself. More...

virtual OrientedBoundingBox &	Transform (const Eigen::Matrix4d &transformation) override
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

virtual OrientedBoundingBox &	Translate (const Eigen::Vector3d &translation, bool relative=true) override
	Apply translation to the geometry coordinates. More...

virtual OrientedBoundingBox &	Scale (const double scale, const Eigen::Vector3d &center) override
	Apply scaling to the geometry coordinates. Given a scaling factor \(s\), and center \(c\), a given point \(p\) is transformed according to \(s (p - c) + c\). More...

virtual OrientedBoundingBox &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix \(R\), and center \(c\), a given point \(p\) is transformed according to \(R (p - c) + c\). More...

double	Volume () const
	Returns the volume of the bounding box. More...

std::vector< Eigen::Vector3d >	GetBoxPoints () const

std::vector< size_t >	GetPointIndicesWithinBoundingBox (const std::vector< Eigen::Vector3d > &points) const
	Return indices to points that are within the bounding box. 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 OrientedBoundingBox	CreateFromAxisAlignedBoundingBox (const AxisAlignedBoundingBox &aabox)

static OrientedBoundingBox	CreateFromPoints (const std::vector< Eigen::Vector3d > &points, bool robust=false)

static OrientedBoundingBox	CreateFromPointsMinimal (const std::vector< Eigen::Vector3d > &points, bool robust=false)

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
Eigen::Vector3d	center_
	The center point of the bounding box. More...

Eigen::Matrix3d	R_

Eigen::Vector3d	extent_
	The extent of the bounding box in its frame of reference. More...

Eigen::Vector3d	color_
	The color of the bounding box in RGB. More...

Additional Inherited Members
Public Types inherited from open3d::geometry::Geometry
enum class	GeometryType { Unspecified = 0 , PointCloud = 1 , VoxelGrid = 2 , Octree = 3 , LineSet = 4 , MeshBase = 5 , TriangleMesh = 6 , HalfEdgeTriangleMesh = 7 , Image = 8 , RGBDImage = 9 , TetraMesh = 10 , OrientedBoundingBox = 11 , 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	TransformCovariances (const Eigen::Matrix4d &transformation, std::vector< Eigen::Matrix3d > &covariances) const
	Transforms all covariance matrices with the transformation. 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 &center) 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 &center) 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...

void	RotateCovariances (const Eigen::Matrix3d &R, std::vector< Eigen::Matrix3d > &covariances) const
	Rotate all covariance matrices with the rotation matrix `R`. More...

Protected Member Functions inherited from open3d::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

A bounding box oriented along an arbitrary frame of reference.

The oriented bounding box is defined by its center position, rotation maxtrix and extent.

Constructor & Destructor Documentation

◆ OrientedBoundingBox() [1/2]

open3d::geometry::OrientedBoundingBox::OrientedBoundingBox ( )

inline

Default constructor.

Creates an empty Oriented Bounding Box.

◆ OrientedBoundingBox() [2/2]

open3d::geometry::OrientedBoundingBox::OrientedBoundingBox	(	const Eigen::Vector3d &	center,
		const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	extent
	)

inline

Parameterized constructor.

Parameters

center	Specifies the center position of the bounding box.
R	The rotation matrix specifying the orientation of the bounding box with the original frame of reference.
extent	The extent of the bounding box.

◆ ~OrientedBoundingBox()

open3d::geometry::OrientedBoundingBox::~OrientedBoundingBox ( )

inlineoverride

Member Function Documentation

◆ Clear()

OrientedBoundingBox & open3d::geometry::OrientedBoundingBox::Clear ( )

overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry3D.

◆ CreateFromAxisAlignedBoundingBox()

OrientedBoundingBox open3d::geometry::OrientedBoundingBox::CreateFromAxisAlignedBoundingBox ( const AxisAlignedBoundingBox & aabox )

static

Returns an oriented bounding box from the AxisAlignedBoundingBox.

Parameters

aabox AxisAlignedBoundingBox object from which OrientedBoundingBox is created.

◆ CreateFromPoints()

OrientedBoundingBox open3d::geometry::OrientedBoundingBox::CreateFromPoints	(	const std::vector< Eigen::Vector3d > &	points,
		bool	robust = `false`
	)

static

Creates an oriented bounding box using a PCA. Note, that this is only an approximation to the minimum oriented bounding box that could be computed for example with O'Rourke's algorithm (cf. http://cs.smith.edu/~jorourke/Papers/MinVolBox.pdf, https://www.geometrictools.com/Documentation/MinimumVolumeBox.pdf)

Parameters

points	The input points
robust	If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.

◆ CreateFromPointsMinimal()

OrientedBoundingBox open3d::geometry::OrientedBoundingBox::CreateFromPointsMinimal	(	const std::vector< Eigen::Vector3d > &	points,
		bool	robust = `false`
	)

static

Creates the oriented bounding box with the smallest volume. The algorithm makes use of the fact that at least one edge of the convex hull must be collinear with an edge of the minimum bounding box: for each triangle in the convex hull, calculate the minimal axis aligned box in the frame of that triangle. at the end, return the box with the smallest volume

Parameters

points	The input points
robust	If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.

◆ GetAxisAlignedBoundingBox()

AxisAlignedBoundingBox open3d::geometry::OrientedBoundingBox::GetAxisAlignedBoundingBox ( ) const

overridevirtual

Creates an axis-aligned bounding box around the points (corners) of the object.

Implements open3d::geometry::Geometry3D.

◆ GetBoxPoints()

std::vector< Eigen::Vector3d > open3d::geometry::OrientedBoundingBox::GetBoxPoints ( ) const

Returns the eight points that define the bounding box.

///      ------- x
///     /|
///    / |
///   /  | z
///  y
///      0 ------------------- 1
///       /|                /|
///      / |               / |
///     /  |              /  |
///    /   |             /   |
/// 2 ------------------- 7  |
///   |    |____________|____| 6
///   |   /3            |   /
///   |  /              |  /
///   | /               | /
///   |/                |/
/// 5 ------------------- 4
///

◆ GetCenter()

Eigen::Vector3d open3d::geometry::OrientedBoundingBox::GetCenter ( ) const

overridevirtual

Returns the center of the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMaxBound()

Eigen::Vector3d open3d::geometry::OrientedBoundingBox::GetMaxBound ( ) const

overridevirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

Eigen::Vector3d open3d::geometry::OrientedBoundingBox::GetMinBound ( ) const

overridevirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinimalOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::OrientedBoundingBox::GetMinimalOrientedBoundingBox ( bool robust ) const

overridevirtual

Returns the object itself.

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::OrientedBoundingBox::GetOrientedBoundingBox ( bool robust ) const

overridevirtual

Returns the object itself.

Implements open3d::geometry::Geometry3D.

◆ GetPointIndicesWithinBoundingBox()

std::vector< size_t > open3d::geometry::OrientedBoundingBox::GetPointIndicesWithinBoundingBox ( const std::vector< Eigen::Vector3d > & points ) const

Return indices to points that are within the bounding box.

◆ IsEmpty()

bool open3d::geometry::OrientedBoundingBox::IsEmpty ( ) const

overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry3D.

◆ Rotate()

OrientedBoundingBox & open3d::geometry::OrientedBoundingBox::Rotate	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply rotation to the geometry coordinates and normals. Given a rotation matrix \(R\), and center \(c\), a given point \(p\) is transformed according to \(R (p - c) + c\).

Parameters

R	A 3x3 rotation matrix
center	Rotation center that is used for the rotation.

Implements open3d::geometry::Geometry3D.

◆ Scale()

OrientedBoundingBox & open3d::geometry::OrientedBoundingBox::Scale	(	const double	scale,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply scaling to the geometry coordinates. Given a scaling factor \(s\), and center \(c\), a given point \(p\) is transformed according to \(s (p - c) + c\).

Parameters

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.

◆ Transform()

OrientedBoundingBox & open3d::geometry::OrientedBoundingBox::Transform ( const Eigen::Matrix4d & transformation )

overridevirtual

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

Implements open3d::geometry::Geometry3D.

◆ Translate()

OrientedBoundingBox & open3d::geometry::OrientedBoundingBox::Translate	(	const Eigen::Vector3d &	translation,
		bool	relative = `true`
	)

overridevirtual

Apply translation to the geometry coordinates.

Parameters

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.

◆ Volume()

double open3d::geometry::OrientedBoundingBox::Volume ( ) const

Returns the volume of the bounding box.

Field Documentation

◆ center_

Eigen::Vector3d open3d::geometry::OrientedBoundingBox::center_

The center point of the bounding box.

◆ color_

Eigen::Vector3d open3d::geometry::OrientedBoundingBox::color_

The color of the bounding box in RGB.

◆ extent_

Eigen::Vector3d open3d::geometry::OrientedBoundingBox::extent_

The extent of the bounding box in its frame of reference.

◆ R_

Eigen::Matrix3d open3d::geometry::OrientedBoundingBox::R_

The rotation matrix of the bounding box to transform the original frame of reference to the frame of this box.

The documentation for this class was generated from the following files:

/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/BoundingVolume.h (9238339 (Tue Mar 14 18:49:09 2023 -0700))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/BoundingVolume.cpp (9238339 (Tue Mar 14 18:49:09 2023 -0700))

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OrientedBoundingBox() [1/2]

◆ OrientedBoundingBox() [2/2]

◆ ~OrientedBoundingBox()

Member Function Documentation

◆ Clear()

◆ CreateFromAxisAlignedBoundingBox()

◆ CreateFromPoints()

◆ CreateFromPointsMinimal()

◆ GetAxisAlignedBoundingBox()

◆ GetBoxPoints()

◆ GetCenter()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetMinimalOrientedBoundingBox()

◆ GetOrientedBoundingBox()

◆ GetPointIndicesWithinBoundingBox()

◆ IsEmpty()

◆ Rotate()

◆ Scale()

◆ Transform()

◆ Translate()

◆ Volume()

Field Documentation

◆ center_

◆ color_

◆ extent_

◆ R_