A bounding box that is aligned along the coordinate axes and defined by the min_bound and max_bound. More...

#include <BoundingVolume.h>

Inheritance diagram for open3d::t::geometry::AxisAlignedBoundingBox:

Public Member Functions
	AxisAlignedBoundingBox (const core::Device &device=core::Device("CPU:0"))
	Construct an empty AxisAlignedBoundingBox on the provided device. More...

	AxisAlignedBoundingBox (const core::Tensor &min_bound, const core::Tensor &max_bound)
	Construct an AxisAlignedBoundingBox from min/max bound. More...

virtual	~AxisAlignedBoundingBox () override

core::Device	GetDevice () const override
	Returns the device attribute of this AxisAlignedBoundingBox. More...

core::Dtype	GetDtype () const
	Returns the data type attribute of this AxisAlignedBoundingBox. More...

AxisAlignedBoundingBox	To (const core::Device &device, bool copy=false) const
	Transfer the AxisAlignedBoundingBox to a specified device. More...

AxisAlignedBoundingBox	Clone () const
	Returns copy of the AxisAlignedBoundingBox on the same device. More...

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

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

void	SetMinBound (const core::Tensor &min_bound)
	Set the min bound of the box. If the data type of the given tensor differs from the data type of the box, an exception will be thrown. More...

void	SetMaxBound (const core::Tensor &max_bound)
	Set the max bound of the box. If the data type of the given tensor differs from the data type of the box, an exception will be thrown. More...

void	SetColor (const core::Tensor &color)
	Set the color of the box. If the data type of the given tensor differs from the data type of the box, an exception will be thrown. More...

core::Tensor	GetMinBound () const

core::Tensor	GetMaxBound () const

core::Tensor	GetColor () const

core::Tensor	GetCenter () const

AxisAlignedBoundingBox &	Translate (const core::Tensor &translation, bool relative=true)
	Translate the axis-aligned box by the given translation. More...

AxisAlignedBoundingBox &	Scale (double scale, const utility::optional< core::Tensor > &center=utility::nullopt)
	Scale the axis-aligned box. If \(mi\) is the min_bound and \(ma\) is the max_bound of the axis aligned bounding box, and \(s\) and \(c\) are the provided scaling factor and center respectively, then the new min_bound and max_bound are given by \(mi = c + s (mi - c)\) and \(ma = c + s (ma - c)\). The scaling center will be the box center if it is not specified. More...

AxisAlignedBoundingBox &	operator+= (const AxisAlignedBoundingBox &other)
	Add operation for axis-aligned bounding box. The device of other box must be the same as the device of the current box. More...

core::Tensor	GetExtent () const
	Get the extent/length of the bounding box in x, y, and z dimension. More...

core::Tensor	GetHalfExtent () const
	Returns the half extent of the bounding box. More...

double	GetMaxExtent () const
	Returns the maximum extent, i.e. the maximum of X, Y and Z axis' extents. More...

double	GetXPercentage (double x) const

double	GetYPercentage (double y) const

double	GetZPercentage (double z) const

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

core::Tensor	GetBoxPoints () const
	Returns the eight points that define the bounding box. More...

core::Tensor	GetPointIndicesWithinBoundingBox (const core::Tensor &points) const
	Indices to points that are within the bounding box. More...

std::string	ToString () const
	Text description. More...

open3d::geometry::AxisAlignedBoundingBox	ToLegacy () const
	Convert to a legacy Open3D axis-aligned box. More...

OrientedBoundingBox	GetOrientedBoundingBox () const
	Convert to an oriented box. More...

Public Member Functions inherited from open3d::t::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)

Public Member Functions inherited from open3d::core::IsDevice
	IsDevice ()=default

virtual	~IsDevice ()=default

bool	IsCPU () const

bool	IsCUDA () const

Public Member Functions inherited from open3d::t::geometry::DrawableGeometry
	DrawableGeometry ()

	~DrawableGeometry ()

bool	HasMaterial () const
	Check if a material has been applied to this Geometry with SetMaterial. More...

visualization::rendering::Material &	GetMaterial ()
	Get material associated with this Geometry. More...

const visualization::rendering::Material &	GetMaterial () const
	Get const reference to material associated with this Geometry. More...

void	SetMaterial (const visualization::rendering::Material &material)
	Set the material properties associate with this Geometry. More...

Static Public Member Functions
static AxisAlignedBoundingBox	FromLegacy (const open3d::geometry::AxisAlignedBoundingBox &box, const core::Dtype &dtype=core::Float32, const core::Device &device=core::Device("CPU:0"))

static AxisAlignedBoundingBox	CreateFromPoints (const core::Tensor &points)

Protected Attributes
core::Device	device_ = core::Device("CPU:0")
	The device to use for the bounding box. The default is CPU:0. More...

core::Dtype	dtype_ = core::Float32
	The data type of the bounding box. More...

core::Tensor	min_bound_
	The lower x, y, z bounds of the bounding box. More...

core::Tensor	max_bound_
	The upper x, y, z bounds of the bounding box. More...

core::Tensor	color_
	The color of the bounding box in RGB. The default is white. More...

Additional Inherited Members
Public Types inherited from open3d::t::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::t::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

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
- 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].

Constructor & Destructor Documentation

◆ AxisAlignedBoundingBox() [1/2]

open3d::t::geometry::AxisAlignedBoundingBox::AxisAlignedBoundingBox ( const core::Device & device = core::Device("CPU:0") )

Construct an empty AxisAlignedBoundingBox on the provided device.

◆ AxisAlignedBoundingBox() [2/2]

open3d::t::geometry::AxisAlignedBoundingBox::AxisAlignedBoundingBox	(	const core::Tensor &	min_bound,
		const core::Tensor &	max_bound
	)

Construct an AxisAlignedBoundingBox from min/max bound.

The AxisAlignedBoundingBox 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	Lower bounds of the bounding box for all axes. Tensor of shape {3,}, and type float32 or float64.
max_bound	Upper bounds of the bounding box for all axes. Tensor of shape {3,}, and type float32 or float64.

◆ ~AxisAlignedBoundingBox()

virtual open3d::t::geometry::AxisAlignedBoundingBox::~AxisAlignedBoundingBox ( )

inlineoverridevirtual

Member Function Documentation

◆ Clear()

AxisAlignedBoundingBox & open3d::t::geometry::AxisAlignedBoundingBox::Clear ( )

overridevirtual

Clear all elements in the geometry.

Implements open3d::t::geometry::Geometry.

◆ Clone()

AxisAlignedBoundingBox open3d::t::geometry::AxisAlignedBoundingBox::Clone ( ) const

inline

Returns copy of the AxisAlignedBoundingBox on the same device.

◆ CreateFromPoints()

AxisAlignedBoundingBox open3d::t::geometry::AxisAlignedBoundingBox::CreateFromPoints ( const core::Tensor & points )

static

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

Parameters

points A list of points with data type of float32 or float64 (N x 3 tensor).

Returns: AxisAlignedBoundingBox with same data type and device as input points.

◆ FromLegacy()

AxisAlignedBoundingBox open3d::t::geometry::AxisAlignedBoundingBox::FromLegacy	(	const open3d::geometry::AxisAlignedBoundingBox &	box,
		const core::Dtype &	dtype = `core::Float32`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

static

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

Parameters

box	Legacy AxisAlignedBoundingBox.
dtype	The data type of the box for min_bound, max_bound and color. The default is float32.
device	The device of the box. The default is CPU:0.

◆ GetBoxPoints()

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::GetBoxPoints ( ) const

Returns the eight points that define the bounding box.

The Return tensor has shape {8, 3} and data type same as the box.

◆ GetCenter()

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::GetCenter ( ) const

inline

◆ GetColor()

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::GetColor ( ) const

inline

◆ GetDevice()

core::Device open3d::t::geometry::AxisAlignedBoundingBox::GetDevice ( ) const

inlineoverridevirtual

Returns the device attribute of this AxisAlignedBoundingBox.

Implements open3d::t::geometry::Geometry.

◆ GetDtype()

core::Dtype open3d::t::geometry::AxisAlignedBoundingBox::GetDtype ( ) const

inline

Returns the data type attribute of this AxisAlignedBoundingBox.

◆ GetExtent()

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::GetExtent ( ) const

inline

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

◆ GetHalfExtent()

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::GetHalfExtent ( ) const

inline

Returns the half extent of the bounding box.

◆ GetMaxBound()

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::GetMaxBound ( ) const

inline

◆ GetMaxExtent()

double open3d::t::geometry::AxisAlignedBoundingBox::GetMaxExtent ( ) const

inline

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

◆ GetMinBound()

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::GetMinBound ( ) const

inline

◆ GetOrientedBoundingBox()

OrientedBoundingBox open3d::t::geometry::AxisAlignedBoundingBox::GetOrientedBoundingBox ( ) const

Convert to an oriented box.

◆ GetPointIndicesWithinBoundingBox()

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::GetPointIndicesWithinBoundingBox ( const core::Tensor & points ) const

Indices to points that are within the bounding box.

Parameters

points Tensor with {N, 3} shape, and type float32 or float64.

◆ GetXPercentage()

double open3d::t::geometry::AxisAlignedBoundingBox::GetXPercentage ( double x ) const

Calculates the percentage position of the given x-coordinate within the x-axis range of this AxisAlignedBoundingBox.

◆ GetYPercentage()

double open3d::t::geometry::AxisAlignedBoundingBox::GetYPercentage ( double y ) const

Calculates the percentage position of the given y-coordinate within the y-axis range of this AxisAlignedBoundingBox.

◆ GetZPercentage()

double open3d::t::geometry::AxisAlignedBoundingBox::GetZPercentage ( double z ) const

Calculates the percentage position of the given z-coordinate within the z-axis range of this AxisAlignedBoundingBox.

◆ IsEmpty()

bool open3d::t::geometry::AxisAlignedBoundingBox::IsEmpty ( ) const

inlineoverridevirtual

Returns true iff the geometry is empty.

Implements open3d::t::geometry::Geometry.

◆ operator+=()

AxisAlignedBoundingBox & open3d::t::geometry::AxisAlignedBoundingBox::operator+= ( const AxisAlignedBoundingBox & other )

Add operation for axis-aligned bounding box. The device of other box must be the same as the device of the current box.

◆ Scale()

AxisAlignedBoundingBox & open3d::t::geometry::AxisAlignedBoundingBox::Scale	(	double	scale,
		const utility::optional< core::Tensor > &	center = `utility::nullopt`
	)

Scale the axis-aligned box. If \(mi\) is the min_bound and \(ma\) is the max_bound of the axis aligned bounding box, and \(s\) and \(c\) are the provided scaling factor and center respectively, then the new min_bound and max_bound are given by \(mi = c + s (mi - c)\) and \(ma = c + s (ma - c)\). The scaling center will be the box center if it is not specified.

Parameters

scale	The scale parameter.
center	Center used for the scaling operation. Tensor of shape {3,}, type float32 or float64, device same as the box.

◆ SetColor()

void open3d::t::geometry::AxisAlignedBoundingBox::SetColor ( const core::Tensor & color )

Set the color of the box. If the data type of the given tensor differs from the data type of the box, an exception will be thrown.

Parameters

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

◆ SetMaxBound()

void open3d::t::geometry::AxisAlignedBoundingBox::SetMaxBound ( const core::Tensor & max_bound )

Set the max bound of the box. If the data type of the given tensor differs from the data type of the box, an exception will be thrown.

If the max bound makes the box invalid, it will not be set to the box.

Parameters

max_bound Tensor with {3,} shape, and type float32 or float64.

◆ SetMinBound()

void open3d::t::geometry::AxisAlignedBoundingBox::SetMinBound ( const core::Tensor & min_bound )

Set the min bound of the box. If the data type of the given tensor differs from the data type of the box, an exception will be thrown.

If the min bound makes the box invalid, it will not be set to the box.

Parameters

min_bound Tensor with {3,} shape, and type float32 or float64.

◆ To()

AxisAlignedBoundingBox open3d::t::geometry::AxisAlignedBoundingBox::To	(	const core::Device &	device,
		bool	copy = `false`
	)		const

Transfer the AxisAlignedBoundingBox to a specified device.

Parameters

device	The targeted device to convert to.
copy	If true, a new AxisAlignedBoundingBox is always created; If false, the copy is avoided when the original AxisAlignedBoundingBox is already on the targeted device.

◆ ToLegacy()

open3d::geometry::AxisAlignedBoundingBox open3d::t::geometry::AxisAlignedBoundingBox::ToLegacy ( ) const

Convert to a legacy Open3D axis-aligned box.

◆ ToString()

std::string open3d::t::geometry::AxisAlignedBoundingBox::ToString ( ) const

Text description.

◆ Translate()

AxisAlignedBoundingBox & open3d::t::geometry::AxisAlignedBoundingBox::Translate	(	const core::Tensor &	translation,
		bool	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	Translation tensor of shape (3,), type float32 or float64, device same as the box.
relative	Whether to perform relative translation.

◆ Volume()

double open3d::t::geometry::AxisAlignedBoundingBox::Volume ( ) const

inline

Returns the volume of the bounding box.

Field Documentation

◆ color_

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::color_

protected

The color of the bounding box in RGB. The default is white.

◆ device_

core::Device open3d::t::geometry::AxisAlignedBoundingBox::device_ = core::Device("CPU:0")

protected

The device to use for the bounding box. The default is CPU:0.

◆ dtype_

core::Dtype open3d::t::geometry::AxisAlignedBoundingBox::dtype_ = core::Float32

protected

The data type of the bounding box.

◆ max_bound_

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::max_bound_

protected

The upper x, y, z bounds of the bounding box.

◆ min_bound_

core::Tensor open3d::t::geometry::AxisAlignedBoundingBox::min_bound_

protected

The lower x, y, z bounds of the bounding box.

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

/home/runner/work/Open3D/Open3D/cpp/open3d/t/geometry/BoundingVolume.h (252c867 (Sun May 5 05:39:34 2024 +0000))
/home/runner/work/Open3D/Open3D/cpp/open3d/t/geometry/BoundingVolume.cpp (252c867 (Sun May 5 05:39:34 2024 +0000))

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AxisAlignedBoundingBox() [1/2]

◆ AxisAlignedBoundingBox() [2/2]

◆ ~AxisAlignedBoundingBox()

Member Function Documentation

◆ Clear()

◆ Clone()

◆ CreateFromPoints()

◆ FromLegacy()

◆ GetBoxPoints()

◆ GetCenter()

◆ GetColor()

◆ GetDevice()

◆ GetDtype()

◆ GetExtent()

◆ GetHalfExtent()

◆ GetMaxBound()

◆ GetMaxExtent()

◆ GetMinBound()

◆ GetOrientedBoundingBox()

◆ GetPointIndicesWithinBoundingBox()

◆ GetXPercentage()

◆ GetYPercentage()

◆ GetZPercentage()

◆ IsEmpty()

◆ operator+=()

◆ Scale()

◆ SetColor()

◆ SetMaxBound()

◆ SetMinBound()

◆ To()

◆ ToLegacy()

◆ ToString()

◆ Translate()

◆ Volume()

Field Documentation

◆ color_

◆ device_

◆ dtype_

◆ max_bound_

◆ min_bound_