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::geometry::AxisAlignedBoundingBox:

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

	AxisAlignedBoundingBox (const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound)
	Parameterized constructor. More...

	~AxisAlignedBoundingBox () override

AxisAlignedBoundingBox &	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
	Returns the object itself. More...

virtual OrientedBoundingBox	GetOrientedBoundingBox (bool robust=false) const override

virtual OrientedBoundingBox	GetMinimalOrientedBoundingBox (bool robust=false) const override

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

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

virtual AxisAlignedBoundingBox &	Scale (const double scale, const Eigen::Vector3d &center) override
	Scales the axis-aligned bounding boxes. 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 \(ma = c + s (ma - c)\). More...

virtual AxisAlignedBoundingBox &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
	an AxisAlignedBoundingBox can not be rotated. This method will throw an error. More...

AxisAlignedBoundingBox &	operator+= (const AxisAlignedBoundingBox &other)

Eigen::Vector3d	GetExtent () const
	Get the extent/length of the bounding box in x, y, and z dimension. More...

Eigen::Vector3d	GetHalfExtent () const
	Returns the half extent of the bounding box. More...

double	GetMaxExtent () const

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...

std::vector< Eigen::Vector3d >	GetBoxPoints () const
	Returns the eight points that define the bounding box. More...

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

std::string	GetPrintInfo () const
	Returns the 3D dimensions of the bounding box in string format. 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 AxisAlignedBoundingBox	CreateFromPoints (const std::vector< Eigen::Vector3d > &points)

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

Eigen::Vector3d	max_bound_
	The upper x, y, z bounds of the bounding box. 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 that is aligned along the coordinate axes and defined by the min_bound and max_bound.

The AxisAlignedBoundingBox uses the coordinate axes for bounding box generation. This means that the bounding box is oriented along the coordinate axes.

Constructor & Destructor Documentation

◆ AxisAlignedBoundingBox() [1/2]

open3d::geometry::AxisAlignedBoundingBox::AxisAlignedBoundingBox ( )

inline

Default constructor.

Creates an empty Axis Aligned Bounding Box.

◆ AxisAlignedBoundingBox() [2/2]

open3d::geometry::AxisAlignedBoundingBox::AxisAlignedBoundingBox	(	const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound
	)

Parameterized constructor.

Parameters

min_bound	Lower bounds of the bounding box for all axes.
max_bound	Upper bounds of the bounding box for all axes.

◆ ~AxisAlignedBoundingBox()

open3d::geometry::AxisAlignedBoundingBox::~AxisAlignedBoundingBox ( )

inlineoverride

Member Function Documentation

◆ Clear()

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

overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry3D.

◆ CreateFromPoints()

AxisAlignedBoundingBox open3d::geometry::AxisAlignedBoundingBox::CreateFromPoints ( const std::vector< Eigen::Vector3d > & points )

static

Creates the bounding box that encloses the set of points.

Parameters

points A list of points.

◆ GetAxisAlignedBoundingBox()

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

overridevirtual

Returns the object itself.

Implements open3d::geometry::Geometry3D.

◆ GetBoxPoints()

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

Returns the eight points that define the bounding box.

◆ GetCenter()

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

overridevirtual

Returns the center of the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetExtent()

Eigen::Vector3d open3d::geometry::AxisAlignedBoundingBox::GetExtent ( ) const

inline

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

◆ GetHalfExtent()

Eigen::Vector3d open3d::geometry::AxisAlignedBoundingBox::GetHalfExtent ( ) const

inline

Returns the half extent of the bounding box.

◆ GetMaxBound()

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

overridevirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMaxExtent()

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

inline

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

◆ GetMinBound()

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

overridevirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinimalOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::AxisAlignedBoundingBox::GetMinimalOrientedBoundingBox ( bool robust = false ) const

overridevirtual

Returns an oriented bounding box with the same dimensions and orientation as the object

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::AxisAlignedBoundingBox::GetOrientedBoundingBox ( bool robust = false ) const

overridevirtual

Returns an oriented bounding box with the same dimensions and orientation as the object

Implements open3d::geometry::Geometry3D.

◆ GetPointIndicesWithinBoundingBox()

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

Return indices to points that are within the bounding box.

Parameters

points A list of points.

◆ GetPrintInfo()

std::string open3d::geometry::AxisAlignedBoundingBox::GetPrintInfo ( ) const

Returns the 3D dimensions of the bounding box in string format.

◆ GetXPercentage()

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

inline

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

◆ GetYPercentage()

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

inline

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

◆ GetZPercentage()

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

inline

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

◆ IsEmpty()

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

overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry3D.

◆ operator+=()

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

◆ Rotate()

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

overridevirtual

an AxisAlignedBoundingBox can not be rotated. This method will throw an error.

Implements open3d::geometry::Geometry3D.

◆ Scale()

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

overridevirtual

Scales the axis-aligned bounding boxes. 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 \(ma = c + s (ma - c)\).

Parameters

scale	The scale parameter.
center	Center used for the scaling operation.

Implements open3d::geometry::Geometry3D.

◆ Transform()

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

overridevirtual

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

Implements open3d::geometry::Geometry3D.

◆ Translate()

AxisAlignedBoundingBox & open3d::geometry::AxisAlignedBoundingBox::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::AxisAlignedBoundingBox::Volume ( ) const

Returns the volume of the bounding box.

Field Documentation

◆ color_

Eigen::Vector3d open3d::geometry::AxisAlignedBoundingBox::color_

The color of the bounding box in RGB.

◆ max_bound_

Eigen::Vector3d open3d::geometry::AxisAlignedBoundingBox::max_bound_

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

◆ min_bound_

Eigen::Vector3d open3d::geometry::AxisAlignedBoundingBox::min_bound_

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/geometry/BoundingVolume.h (5c982c7 (Thu Apr 18 12:15:13 2024 -0700))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/BoundingVolume.cpp (5c982c7 (Thu Apr 18 12:15:13 2024 -0700))

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AxisAlignedBoundingBox() [1/2]

◆ AxisAlignedBoundingBox() [2/2]

◆ ~AxisAlignedBoundingBox()

Member Function Documentation

◆ Clear()

◆ CreateFromPoints()

◆ GetAxisAlignedBoundingBox()

◆ GetBoxPoints()

◆ GetCenter()

◆ GetExtent()

◆ GetHalfExtent()

◆ GetMaxBound()

◆ GetMaxExtent()

◆ GetMinBound()

◆ GetMinimalOrientedBoundingBox()

◆ GetOrientedBoundingBox()

◆ GetPointIndicesWithinBoundingBox()

◆ GetPrintInfo()

◆ GetXPercentage()

◆ GetYPercentage()

◆ GetZPercentage()

◆ IsEmpty()

◆ operator+=()

◆ Rotate()

◆ Scale()

◆ Transform()

◆ Translate()

◆ Volume()

Field Documentation

◆ color_

◆ max_bound_

◆ min_bound_