#include <BoundingVolume.h>

Inheritance diagram for open3d::geometry::OrientedBoundingEllipsoid:

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

	OrientedBoundingEllipsoid (const Eigen::Vector3d &center, const Eigen::Matrix3d &R, const Eigen::Vector3d &radii)
	Parameterized constructor. More...

	~OrientedBoundingEllipsoid () override

OrientedBoundingEllipsoid &	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
	Creates an axis-aligned bounding box around the object. More...

virtual OrientedBoundingBox	GetOrientedBoundingBox (bool robust) const override
	Returns an oriented bounding box around the ellipsoid. More...

virtual OrientedBoundingBox	GetMinimalOrientedBoundingBox (bool robust) const override
	Returns an oriented bounding box around the ellipsoid. More...

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

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

virtual OrientedBoundingEllipsoid &	Scale (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...

virtual OrientedBoundingEllipsoid &	Rotate (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...

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

std::vector< Eigen::Vector3d >	GetEllipsoidPoints () const

std::vector< size_t >	GetPointIndicesWithinBoundingEllipsoid (const std::vector< Eigen::Vector3d > &points) const
	Return indices to points that are within the bounding ellipsoid. 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 OrientedBoundingEllipsoid	CreateFromPoints (const std::vector< Eigen::Vector3d > &points, bool robust=false)

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	center_
	The center point of the bounding ellipsoid. More...

Eigen::Matrix3d	R_

Eigen::Vector3d	radii_
	The radii of the bounding ellipsoid in its frame of reference. More...

Eigen::Vector3d	color_
	The color of the bounding ellipsoid 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 , OrientedBoundingEllipsoid = 13 }
	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...

Constructor & Destructor Documentation

◆ OrientedBoundingEllipsoid() [1/2]

open3d::geometry::OrientedBoundingEllipsoid::OrientedBoundingEllipsoid ( )

inline

Default constructor.

Creates an empty Oriented Bounding Ellipsoid.

◆ OrientedBoundingEllipsoid() [2/2]

open3d::geometry::OrientedBoundingEllipsoid::OrientedBoundingEllipsoid	(	const Eigen::Vector3d &	center,
		const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	radii
	)

inline

Parameterized constructor.

Parameters

center	Specifies the center position of the bounding ellipsoid.
R	The rotation matrix specifying the orientation of the bounding ellipsoid with the original frame of reference.
radii	The radii of the bounding ellipsoid.

◆ ~OrientedBoundingEllipsoid()

open3d::geometry::OrientedBoundingEllipsoid::~OrientedBoundingEllipsoid ( )

inlineoverride

Member Function Documentation

◆ Clear()

OrientedBoundingEllipsoid & open3d::geometry::OrientedBoundingEllipsoid::Clear ( )

overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry3D.

◆ CreateFromPoints()

OrientedBoundingEllipsoid open3d::geometry::OrientedBoundingEllipsoid::CreateFromPoints	(	const std::vector< Eigen::Vector3d > &	points,
		bool	robust = `false`
	)

static

Creates an oriented bounding ellipsoid 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)

Parameters

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

◆ GetAxisAlignedBoundingBox()

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

overridevirtual

Creates an axis-aligned bounding box around the object.

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

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

overridevirtual

Returns the center of the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetEllipsoidPoints()

std::vector< Eigen::Vector3d > open3d::geometry::OrientedBoundingEllipsoid::GetEllipsoidPoints ( ) const

Returns the six critical points of the bounding ellipsoid.

*      ------- x
*     /|
*    / |
*   /  | z
*  y
*                            2
*                         .--|---.
*                    .--'    |     '--.
*               .--'         |          '--.
*            .'              |   4           '.
*           /                |  /              \
*          /                 | /                \
*       0 |------------------|-------------------| 1
*          \               / |                  /
*           \             /  |                 /
*            '.         5    |               .'
*               '--.         |          .--'
*                    '--.    |     .--'
*                         '--|---'
*                            3
*

◆ GetMaxBound()

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

overridevirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

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

overridevirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinimalOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::OrientedBoundingEllipsoid::GetMinimalOrientedBoundingBox ( bool robust ) const

overridevirtual

Returns an oriented bounding box around the ellipsoid.

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::OrientedBoundingEllipsoid::GetOrientedBoundingBox ( bool robust ) const

overridevirtual

Returns an oriented bounding box around the ellipsoid.

Implements open3d::geometry::Geometry3D.

◆ GetPointIndicesWithinBoundingEllipsoid()

std::vector<size_t> open3d::geometry::OrientedBoundingEllipsoid::GetPointIndicesWithinBoundingEllipsoid ( const std::vector< Eigen::Vector3d > & points ) const

Return indices to points that are within the bounding ellipsoid.

◆ IsEmpty()

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

overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry3D.

◆ Rotate()

OrientedBoundingEllipsoid & open3d::geometry::OrientedBoundingEllipsoid::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

R	A 3x3 rotation matrix
center	Rotation center that is used for the rotation.

Implements open3d::geometry::Geometry3D.

◆ Scale()

OrientedBoundingEllipsoid & open3d::geometry::OrientedBoundingEllipsoid::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

scale	The scale parameter that is multiplied to the points/vertices of the geometry.
center	Scale center that is used to resize the geometry.

Implements open3d::geometry::Geometry3D.

◆ Transform()

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

overridevirtual

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

Implements open3d::geometry::Geometry3D.

◆ Translate()

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

Returns the volume of the bounding box.

Field Documentation

◆ center_

Eigen::Vector3d open3d::geometry::OrientedBoundingEllipsoid::center_

The center point of the bounding ellipsoid.

◆ color_

Eigen::Vector3d open3d::geometry::OrientedBoundingEllipsoid::color_

The color of the bounding ellipsoid in RGB.

◆ R_

Eigen::Matrix3d open3d::geometry::OrientedBoundingEllipsoid::R_

The rotation matrix of the bounding ellipsoid to transform the original frame of reference to the frame of this ellipsoid.

◆ radii_

Eigen::Vector3d open3d::geometry::OrientedBoundingEllipsoid::radii_

The radii of the bounding ellipsoid in its frame of reference.

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

/root/Open3D/cpp/open3d/geometry/BoundingVolume.h
/root/Open3D/cpp/open3d/geometry/BoundingVolume.cpp

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Constructor & Destructor Documentation

◆ OrientedBoundingEllipsoid() [1/2]

◆ OrientedBoundingEllipsoid() [2/2]

◆ ~OrientedBoundingEllipsoid()

Member Function Documentation

◆ Clear()

◆ CreateFromPoints()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetEllipsoidPoints()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetMinimalOrientedBoundingBox()

◆ GetOrientedBoundingBox()

◆ GetPointIndicesWithinBoundingEllipsoid()

◆ IsEmpty()

◆ Rotate()

◆ Scale()

◆ Transform()

◆ Translate()

◆ Volume()

Field Documentation

◆ center_

◆ color_

◆ R_

◆ radii_