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

#include <BoundingVolume.h>

Inheritance diagram for open3d::t::geometry::OrientedBoundingBox:

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

	OrientedBoundingBox (const core::Tensor &center, const core::Tensor &rotation, const core::Tensor &extent)
	Construct an OrientedBoundingBox from center, rotation and extent. More...

virtual	~OrientedBoundingBox () override

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

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

OrientedBoundingBox	To (const core::Device &device, bool copy=false) const

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

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

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

void	SetCenter (const core::Tensor &center)
	Set the center 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	SetRotation (const core::Tensor &rotation)
	Set the rotation matrix 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	SetExtent (const core::Tensor &extent)
	Set the extent 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. More...

core::Tensor	GetMinBound () const

core::Tensor	GetMaxBound () const

core::Tensor	GetColor () const

core::Tensor	GetCenter () const

core::Tensor	GetRotation () const

core::Tensor	GetExtent () const

OrientedBoundingBox &	Translate (const core::Tensor &translation, bool 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. More...

OrientedBoundingBox &	Rotate (const core::Tensor &rotation, const utility::optional< core::Tensor > &center=utility::nullopt)
	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. More...

OrientedBoundingBox &	Transform (const core::Tensor &transformation)
	Transform the oriented box by the given transformation matrix. More...

OrientedBoundingBox &	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...

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::OrientedBoundingBox	ToLegacy () const
	Convert to a legacy Open3D oriented box. More...

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const
	Convert to an axis-aligned 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 OrientedBoundingBox	CreateFromAxisAlignedBoundingBox (const AxisAlignedBoundingBox &aabb)

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

static OrientedBoundingBox	CreateFromPoints (const core::Tensor &points, bool robust=false)

Protected Attributes
core::Device	device_ = core::Device("CPU:0")

core::Dtype	dtype_ = core::Float32

core::Tensor	center_

core::Tensor	rotation_

core::Tensor	extent_

core::Tensor	color_

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 oriented along an arbitrary frame of reference.

(center, rotation, extent): The oriented bounding box is defined by its center position, rotation matrix and extent.
- Usage
- 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].

Constructor & Destructor Documentation

◆ OrientedBoundingBox() [1/2]

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

Construct an empty OrientedBoundingBox on the provided device.

◆ OrientedBoundingBox() [2/2]

open3d::t::geometry::OrientedBoundingBox::OrientedBoundingBox	(	const core::Tensor &	center,
		const core::Tensor &	rotation,
		const core::Tensor &	extent
	)

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.

Parameters

center	Center of the bounding box. Tensor of shape {3,}, and type float32 or float64.
rotation	Rotation matrix of the bounding box. Tensor of shape {3, 3}, and type float32 or float64.
extent	Extent of the bounding box. Tensor of shape {3,}, and type float32 or float64.

◆ ~OrientedBoundingBox()

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

inlineoverridevirtual

Member Function Documentation

◆ Clear()

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

overridevirtual

Clear all elements in the geometry.

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

◆ Clone()

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

inline

Returns copy of the OrientedBoundingBox on the same device.

◆ CreateFromAxisAlignedBoundingBox()

OrientedBoundingBox open3d::t::geometry::OrientedBoundingBox::CreateFromAxisAlignedBoundingBox ( const AxisAlignedBoundingBox & aabb )

static

Create an oriented bounding box from the AxisAlignedBoundingBox.

Parameters

aabb	AxisAlignedBoundingBox object from which OrientedBoundingBox is created.

Returns: OrientedBoundingBox with the same device and dtype as input box.

◆ CreateFromPoints()

OrientedBoundingBox open3d::t::geometry::OrientedBoundingBox::CreateFromPoints	(	const core::Tensor &	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) This is a wrapper for a CPU implementation.

Parameters

points	A list of points with data type of float32 or float64 (N x 3 tensor, where N must be larger than 3).
robust	If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.

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

◆ FromLegacy()

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

static

Create an OrientedBoundingBox from a legacy Open3D oriented box.

Parameters

box	Legacy OrientedBoundingBox.
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.

◆ GetAxisAlignedBoundingBox()

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

Convert to an axis-aligned box.

◆ GetBoxPoints()

core::Tensor open3d::t::geometry::OrientedBoundingBox::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.

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

◆ GetCenter()

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

inline

◆ GetColor()

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

inline

◆ GetDevice()

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

inlineoverridevirtual

Returns the device attribute of this OrientedBoundingBox.

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

◆ GetDtype()

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

inline

Returns the data type attribute of this OrientedBoundingBox.

◆ GetExtent()

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

inline

◆ GetMaxBound()

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

◆ GetMinBound()

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

◆ GetPointIndicesWithinBoundingBox()

core::Tensor open3d::t::geometry::OrientedBoundingBox::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.

◆ GetRotation()

core::Tensor open3d::t::geometry::OrientedBoundingBox::GetRotation ( ) const

inline

◆ IsEmpty()

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

inlineoverridevirtual

Returns true iff the geometry is empty.

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

◆ Rotate()

OrientedBoundingBox & open3d::t::geometry::OrientedBoundingBox::Rotate	(	const core::Tensor &	rotation,
		const utility::optional< core::Tensor > &	center = `utility::nullopt`
	)

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	Rotation matrix of shape {3, 3}, type float32 or float64, device same as the box.
center	Center of the rotation, default is null, which means use center of the box as rotation center.

◆ Scale()

OrientedBoundingBox & open3d::t::geometry::OrientedBoundingBox::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.

◆ SetCenter()

void open3d::t::geometry::OrientedBoundingBox::SetCenter ( const core::Tensor & center )

Set the center 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

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

◆ SetColor()

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

Set the color of the box.

Parameters

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

◆ SetExtent()

void open3d::t::geometry::OrientedBoundingBox::SetExtent ( const core::Tensor & extent )

Set the extent 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

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

◆ SetRotation()

void open3d::t::geometry::OrientedBoundingBox::SetRotation ( const core::Tensor & rotation )

Set the rotation matrix 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

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

◆ To()

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

Transfer the OrientedBoundingBox to a specified device.

Parameters

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

◆ ToLegacy()

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

Convert to a legacy Open3D oriented box.

◆ ToString()

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

Text description.

◆ Transform()

OrientedBoundingBox & open3d::t::geometry::OrientedBoundingBox::Transform ( const core::Tensor & transformation )

Transform the oriented box by the given transformation matrix.

Parameters

transformation Transformation matrix of shape {4, 4}, type float32 or float64, device same as the box.

◆ Translate()

OrientedBoundingBox & open3d::t::geometry::OrientedBoundingBox::Translate	(	const core::Tensor &	translation,
		bool	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	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::OrientedBoundingBox::Volume ( ) const

inline

Returns the volume of the bounding box.

Field Documentation

◆ center_

core::Tensor open3d::t::geometry::OrientedBoundingBox::center_

protected

◆ color_

core::Tensor open3d::t::geometry::OrientedBoundingBox::color_

protected

◆ device_

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

protected

◆ dtype_

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

protected

◆ extent_

core::Tensor open3d::t::geometry::OrientedBoundingBox::extent_

protected

◆ rotation_

core::Tensor open3d::t::geometry::OrientedBoundingBox::rotation_

protected

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

◆ OrientedBoundingBox() [1/2]

◆ OrientedBoundingBox() [2/2]

◆ ~OrientedBoundingBox()

Member Function Documentation

◆ Clear()

◆ Clone()

◆ CreateFromAxisAlignedBoundingBox()

◆ CreateFromPoints()

◆ FromLegacy()

◆ GetAxisAlignedBoundingBox()

◆ GetBoxPoints()

◆ GetCenter()

◆ GetColor()

◆ GetDevice()

◆ GetDtype()

◆ GetExtent()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetPointIndicesWithinBoundingBox()

◆ GetRotation()

◆ IsEmpty()

◆ Rotate()

◆ Scale()

◆ SetCenter()

◆ SetColor()

◆ SetExtent()

◆ SetRotation()

◆ To()

◆ ToLegacy()

◆ ToString()

◆ Transform()

◆ Translate()

◆ Volume()

Field Documentation

◆ center_

◆ color_

◆ device_

◆ dtype_

◆ extent_

◆ rotation_