Open3D (C++ API)  0.18.0
Public Member Functions | Data Fields
open3d::visualization::PointCloudPicker Class Reference

A utility class to store picked points of a pointcloud. More...

#include <PointCloudPicker.h>

Inheritance diagram for open3d::visualization::PointCloudPicker:
open3d::geometry::Geometry3D open3d::geometry::Geometry

Public Member Functions

 PointCloudPicker ()
 
 ~PointCloudPicker () override
 
PointCloudPickerClear () override
 Clear all elements in the geometry. More...
 
bool IsEmpty () const override
 Returns true iff the geometry is empty. More...
 
Eigen::Vector3d GetMinBound () const final
 Returns min bounds for geometry coordinates. More...
 
Eigen::Vector3d GetMaxBound () const final
 Returns max bounds for geometry coordinates. More...
 
Eigen::Vector3d GetCenter () const final
 Returns the center of the geometry coordinates. More...
 
geometry::AxisAlignedBoundingBox GetAxisAlignedBoundingBox () const final
 
geometry::OrientedBoundingBox GetOrientedBoundingBox (bool robust=false) const final
 
geometry::OrientedBoundingBox GetMinimalOrientedBoundingBox (bool robust=false) const final
 
PointCloudPickerTransform (const Eigen::Matrix4d &transformation) override
 Apply transformation (4x4 matrix) to the geometry coordinates. More...
 
PointCloudPickerTranslate (const Eigen::Vector3d &translation, bool relative=true) override
 Apply translation to the geometry coordinates. More...
 
PointCloudPickerScale (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...
 
PointCloudPickerRotate (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...
 
bool SetPointCloud (std::shared_ptr< const geometry::Geometry > ptr)
 
- Public Member Functions inherited from open3d::geometry::Geometry3D
 ~Geometry3D () override
 
virtual Geometry3DRotate (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)
 

Data Fields

std::shared_ptr< const geometry::Geometrypointcloud_ptr_
 
std::vector< size_t > picked_indices_
 

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...
 
- 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...
 
- 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 utility class to store picked points of a pointcloud.

Constructor & Destructor Documentation

◆ PointCloudPicker()

open3d::visualization::PointCloudPicker::PointCloudPicker ( )
inline

◆ ~PointCloudPicker()

open3d::visualization::PointCloudPicker::~PointCloudPicker ( )
inlineoverride

Member Function Documentation

◆ Clear()

PointCloudPicker & open3d::visualization::PointCloudPicker::Clear ( )
overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry3D.

◆ GetAxisAlignedBoundingBox()

geometry::AxisAlignedBoundingBox open3d::visualization::PointCloudPicker::GetAxisAlignedBoundingBox ( ) const
finalvirtual

If point cloud does not exist, creates an axis-aligned bounding box form its default constructor. If point cloud exists, creates the axis-aligned bounding box around it. Further details in AxisAlignedBoundingBox::CreateFromPoints()

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

Eigen::Vector3d open3d::visualization::PointCloudPicker::GetCenter ( ) const
finalvirtual

Returns the center of the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMaxBound()

Eigen::Vector3d open3d::visualization::PointCloudPicker::GetMaxBound ( ) const
finalvirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

Eigen::Vector3d open3d::visualization::PointCloudPicker::GetMinBound ( ) const
finalvirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinimalOrientedBoundingBox()

geometry::OrientedBoundingBox open3d::visualization::PointCloudPicker::GetMinimalOrientedBoundingBox ( bool  robust = false) const
finalvirtual

If point cloud does not exist, creates an oriented bounding box form its default constructor. If point cloud exists, creates the minimal oriented bounding box around it. Further details in OrientedBoundingBox::CreateFromPointsMinimal()

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

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

geometry::OrientedBoundingBox open3d::visualization::PointCloudPicker::GetOrientedBoundingBox ( bool  robust = false) const
finalvirtual

If point cloud does not exist, creates an oriented bounding box form its default constructor. If point cloud exists, creates the oriented bounding box around it. Further details in OrientedBoundingBox::CreateFromPoints()

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

Implements open3d::geometry::Geometry3D.

◆ IsEmpty()

bool open3d::visualization::PointCloudPicker::IsEmpty ( ) const
overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry3D.

◆ Rotate()

PointCloudPicker & open3d::visualization::PointCloudPicker::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
RA 3x3 rotation matrix
centerRotation center that is used for the rotation.

Implements open3d::geometry::Geometry3D.

◆ Scale()

PointCloudPicker & open3d::visualization::PointCloudPicker::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
scaleThe scale parameter that is multiplied to the points/vertices of the geometry.
centerScale center that is used to resize the geometry.

Implements open3d::geometry::Geometry3D.

◆ SetPointCloud()

bool open3d::visualization::PointCloudPicker::SetPointCloud ( std::shared_ptr< const geometry::Geometry ptr)

◆ Transform()

PointCloudPicker & open3d::visualization::PointCloudPicker::Transform ( const Eigen::Matrix4d &  transformation)
overridevirtual

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

Implements open3d::geometry::Geometry3D.

◆ Translate()

PointCloudPicker & open3d::visualization::PointCloudPicker::Translate ( const Eigen::Vector3d &  translation,
bool  relative = true 
)
overridevirtual

Apply translation to the geometry coordinates.

Parameters
translationA 3D vector to transform the geometry.
relativeIf true, the translation is directly applied to the geometry. Otherwise, the geometry center is moved to the translation.

Implements open3d::geometry::Geometry3D.

Field Documentation

◆ picked_indices_

std::vector<size_t> open3d::visualization::PointCloudPicker::picked_indices_

◆ pointcloud_ptr_

std::shared_ptr<const geometry::Geometry> open3d::visualization::PointCloudPicker::pointcloud_ptr_

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