open3d.t.geometry.OrientedBoundingBox

class open3d.t.geometry.OrientedBoundingBox

A bounding box oriented along an arbitrary frame of reference. - (center, rotation, extent): The oriented bounding box is defined by its center position, rotation maxtrix and extent.

  • Usage

    • OrientedBoundingBox::GetCenter()

    • OrientedBoundingBox::SetCenter(const core::Tensor &center)

    • OrientedBoundingBox::GetRotation()

    • OrientedBoundingBox::SetRotation(const core::Tensor &rotation)

  • Value tensor of center and extent must have shape {3,}.

  • Value tensor of rotation must have shape {3, 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

      • OrientedBoundingBox::GetColor()

      • OrientedBoundingBox::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: open3d.cpu.pybind.t.geometry.OrientedBoundingBox, device: open3d.cpu.pybind.core.Device = CPU:0) -> None

Construct an empty OrientedBoundingBox on the provided device.

  1. __init__(self: open3d.cpu.pybind.t.geometry.OrientedBoundingBox, center: open3d.cpu.pybind.core.Tensor, rotation: open3d.cpu.pybind.core.Tensor, extent: open3d.cpu.pybind.core.Tensor) -> None

Construct an OrientedBoundingBox from center, rotation and extent. The OrientedBoundingBox will be created on the device of the given tensors, which must be on the same device and have the same data type.

  1. __init__(self: open3d.cpu.pybind.t.geometry.OrientedBoundingBox, arg0: open3d.cpu.pybind.t.geometry.OrientedBoundingBox) -> None

Copy constructor

clear(self)

Clear all elements in the geometry.

Returns

open3d.t.geometry.Geometry

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

Returns copy of the oriented box on the same device.

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

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

static create_from_axis_aligned_bounding_box(aabb)

Create an OrientedBoundingBox from a legacy Open3D oriented box.

Parameters

aabb (open3d.t.geometry.AxisAlignedBoundingBox) – AxisAlignedBoundingBox object from which OrientedBoundingBox is created.

Returns

open3d.t.geometry.OrientedBoundingBox

static create_from_points(points, robust=(with default value))

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) This is a wrapper for a CPU implementation.

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).

  • robust (bool, optional) –

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

    False) -> open3d.t.geometry.OrientedBoundingBox 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

    ()

Returns

open3d.t.geometry.OrientedBoundingBox

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

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

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

Create an oriented bounding box from the AxisAlignedBoundingBox.

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

Returns an oriented bounding box from the AxisAlignedBoundingBox.

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

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

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

Returns the max bound for box.

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

Returns the min bound for box.

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

rotate(self, rotation, center=None)

Rotate the oriented box by the given rotation matrix. If the rotation matrix is not orthogonal, the rotation will no be applied. The rotation center will be the box center if it is not specified.

Parameters

  • rotation (open3d.core.Tensor) – Rotation matrix of shape {3, 3}, type float32 or float64, device same as the box.

  • center (Optional[open3d.core.Tensor], optional, default=None) – Center of the rotation, default is null, which means use center of the box as rotation center.

Returns

open3d.t.geometry.OrientedBoundingBox

scale(self, scale, center=None)

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$ma = c + s (ma - c)f$. The scaling center will be the box center if it is not specified.

Parameters

  • scale (float) – The scale parameter.

  • center (Optional[open3d.core.Tensor], optional, default=None) – Center used for the scaling operation. Tensor with {3,} shape, and type float32 or float64

Returns

open3d.t.geometry.OrientedBoundingBox

set_center(self, center)

Set the center of the box.

Parameters

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

Returns

None

set_color(self, color)

Set the color of the oriented 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_extent(self, extent)

Set the extent of the box.

Parameters

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

Returns

None

set_rotation(self, rotation)

Set the rotation matrix of the box.

Parameters

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

Returns

None

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

Transfer the oriented box to a specified device.

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

Convert to a legacy Open3D oriented box.

transform(self: open3d.cpu.pybind.t.geometry.OrientedBoundingBox, transformation: open3d.cpu.pybind.core.Tensor) → open3d.cpu.pybind.t.geometry.OrientedBoundingBox

Transform the oriented box by the given transformation matrix.

translate(self, translation, relative=True)

Translate the oriented box by the given translation. If relative is true, the translation is added to the center of the box. If false, the center will be assigned to the 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.OrientedBoundingBox

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

Returns the volume of the bounding box.

property center

Returns the center for box.

property color

Returns the color for box.

property device

Returns the device of the geometry.

property dtype

Returns the data type attribute of this OrientedBoundingBox.

property extent

Returns the extent for box coordinates.

property is_cpu

Returns true if the geometry is on CPU.

property is_cuda

Returns true if the geometry is on CUDA.

property material
property rotation

Returns the rotation for box.