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

#include <BoundingVolume.h>

Inheritance diagram for open3d::t::geometry::OrientedBoundingEllipsoid:

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

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

virtual	~OrientedBoundingEllipsoid () override

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

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

OrientedBoundingEllipsoid	To (const core::Device &device, const core::Dtype &dtype, bool copy=false) const

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

OrientedBoundingEllipsoid &	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 ellipsoid. If the data type of the given tensor differs from the data type of the ellipsoid, an exception will be thrown. More...

void	SetRotation (const core::Tensor &rotation)
	Set the rotation matrix of the ellipsoid. If the data type of the given tensor differs from the data type of the ellipsoid, an exception will be thrown. More...

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

void	SetColor (const core::Tensor &color)
	Set the color of the ellipsoid. More...

core::Tensor	GetMinBound () const

core::Tensor	GetMaxBound () const

core::Tensor	GetColor () const

core::Tensor	GetCenter () const

core::Tensor	GetRotation () const

core::Tensor	GetRadii () const

OrientedBoundingEllipsoid &	Translate (const core::Tensor &translation, bool relative=true)
	Translate the oriented ellipsoid by the given translation. If relative is true, the translation is added to the center of the ellipsoid. If false, the center will be assigned to the translation. More...

OrientedBoundingEllipsoid &	Rotate (const core::Tensor &rotation, const std::optional< core::Tensor > &center=std::nullopt)
	Rotate the oriented ellipsoid by the given rotation matrix. If the rotation matrix is not orthogonal, the rotation will not be applied. The rotation center will be the ellipsoid center if it is not specified. More...

OrientedBoundingEllipsoid &	Scale (double scale, const std::optional< core::Tensor > &center=std::nullopt)
	Scale the oriented ellipsoid. The scaling center will be the ellipsoid center if it is not specified. More...

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

core::Tensor	GetEllipsoidPoints () const
	Returns the six critical points of the bounding ellipsoid. More...

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

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

open3d::geometry::OrientedBoundingEllipsoid	ToLegacy () const
	Convert to a legacy Open3D oriented bounding ellipsoid. More...

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const
	Convert to an axis-aligned box. More...

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

OrientedBoundingBox	GetMinimalOrientedBoundingBox (bool robust=false) const
	Returns the minimal oriented bounding box around the ellipsoid. 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

bool	IsSYCL () const

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

static OrientedBoundingEllipsoid	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	radii_

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 , OrientedBoundingEllipsoid = 13 }
	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 ellipsoid oriented along an arbitrary frame of reference.

(center, rotation, radii): The oriented bounding ellipsoid is defined by its center position, rotation matrix and radii along the three principal axes.
- Usage
- Value tensor of center and radii 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 ellipsoid.
color: Color of the bounding ellipsoid.
- Usage
  - OrientedBoundingEllipsoid::GetColor()
  - OrientedBoundingEllipsoid::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

◆ OrientedBoundingEllipsoid() [1/2]

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

Construct an empty OrientedBoundingEllipsoid on the provided device.

◆ OrientedBoundingEllipsoid() [2/2]

open3d::t::geometry::OrientedBoundingEllipsoid::OrientedBoundingEllipsoid	(	const core::Tensor &	center,
		const core::Tensor &	rotation,
		const core::Tensor &	radii
	)

Construct an OrientedBoundingEllipsoid from center, rotation and radii.

The OrientedBoundingEllipsoid 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 ellipsoid. Tensor of shape {3,}, and type float32 or float64.
rotation	Rotation matrix of the bounding ellipsoid. Tensor of shape {3, 3}, and type float32 or float64.
radii	Radii of the bounding ellipsoid along the three principal axes. Tensor of shape {3,}, and type float32 or float64.

◆ ~OrientedBoundingEllipsoid()

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

inlineoverridevirtual

Member Function Documentation

◆ Clear()

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

overridevirtual

Clear all elements in the geometry.

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

◆ Clone()

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

inline

Returns copy of the OrientedBoundingEllipsoid on the same device.

◆ CreateFromPoints()

OrientedBoundingEllipsoid open3d::t::geometry::OrientedBoundingEllipsoid::CreateFromPoints	(	const core::Tensor &	points,
		bool	robust = `false`
	)

static

Creates the oriented bounding ellipsoid with the smallest volume using Khachiyan's algorithm.

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: OrientedBoundingEllipsoid with same data type and device as input points.

◆ FromLegacy()

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

static

Create an OrientedBoundingEllipsoid from a legacy Open3D oriented bounding ellipsoid.

Parameters

ellipsoid	Legacy OrientedBoundingEllipsoid.
dtype	The data type of the ellipsoid for center, radii and color. The default is float32.
device	The device of the ellipsoid. The default is CPU:0.

◆ GetAxisAlignedBoundingBox()

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

Convert to an axis-aligned box.

◆ GetCenter()

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

inline

◆ GetColor()

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

inline

◆ GetDevice()

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

inlineoverridevirtual

Returns the device attribute of this OrientedBoundingEllipsoid.

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

◆ GetDtype()

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

inline

Returns the data type attribute of this OrientedBoundingEllipsoid.

◆ GetEllipsoidPoints()

core::Tensor open3d::t::geometry::OrientedBoundingEllipsoid::GetEllipsoidPoints ( ) const

Returns the six critical points of the bounding ellipsoid.

The Return tensor has shape {6, 3} and data type same as the ellipsoid.

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

◆ GetMaxBound()

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

◆ GetMinBound()

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

◆ GetMinimalOrientedBoundingBox()

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

Returns the minimal oriented bounding box around the ellipsoid.

◆ GetOrientedBoundingBox()

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

Returns an oriented bounding box around the ellipsoid.

◆ GetPointIndicesWithinBoundingEllipsoid()

core::Tensor open3d::t::geometry::OrientedBoundingEllipsoid::GetPointIndicesWithinBoundingEllipsoid ( const core::Tensor & points ) const

Indices to points that are within the bounding ellipsoid.

Parameters

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

◆ GetRadii()

core::Tensor open3d::t::geometry::OrientedBoundingEllipsoid::GetRadii ( ) const

inline

◆ GetRotation()

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

inline

◆ IsEmpty()

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

inlineoverridevirtual

Returns true iff the geometry is empty.

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

◆ Rotate()

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

Rotate the oriented ellipsoid by the given rotation matrix. If the rotation matrix is not orthogonal, the rotation will not be applied. The rotation center will be the ellipsoid center if it is not specified.

Parameters

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

◆ Scale()

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

Scale the oriented ellipsoid. The scaling center will be the ellipsoid 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 ellipsoid.

◆ SetCenter()

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

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

Parameters

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

◆ SetColor()

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

Set the color of the ellipsoid.

Parameters

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

◆ SetRadii()

void open3d::t::geometry::OrientedBoundingEllipsoid::SetRadii ( const core::Tensor & radii )

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

Parameters

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

◆ SetRotation()

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

Set the rotation matrix of the ellipsoid. If the data type of the given tensor differs from the data type of the ellipsoid, an exception will be thrown.

Parameters

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

◆ To()

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

Transfer the OrientedBoundingEllipsoid to a specified device and dtype.

Parameters

device	The targeted device to convert to.
dtype	The targeted data type (Float32 or Float64).
copy	If true, a new OrientedBoundingEllipsoid is always created; if false, the copy is avoided when the original OrientedBoundingEllipsoid is already on the targeted device and dtype.

◆ ToLegacy()

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

Convert to a legacy Open3D oriented bounding ellipsoid.

◆ ToString()

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

Text description.

◆ Translate()

OrientedBoundingEllipsoid & open3d::t::geometry::OrientedBoundingEllipsoid::Translate	(	const core::Tensor &	translation,
		bool	relative = `true`
	)

Translate the oriented ellipsoid by the given translation. If relative is true, the translation is added to the center of the ellipsoid. 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 ellipsoid.
relative	Whether to perform relative translation.

◆ Volume()

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

Returns the volume of the bounding ellipsoid.

Field Documentation

◆ center_

core::Tensor open3d::t::geometry::OrientedBoundingEllipsoid::center_

protected

◆ color_

core::Tensor open3d::t::geometry::OrientedBoundingEllipsoid::color_

protected

◆ device_

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

protected

◆ dtype_

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

protected

◆ radii_

core::Tensor open3d::t::geometry::OrientedBoundingEllipsoid::radii_

protected

◆ rotation_

core::Tensor open3d::t::geometry::OrientedBoundingEllipsoid::rotation_

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OrientedBoundingEllipsoid() [1/2]

◆ OrientedBoundingEllipsoid() [2/2]

◆ ~OrientedBoundingEllipsoid()

Member Function Documentation

◆ Clear()

◆ Clone()

◆ CreateFromPoints()

◆ FromLegacy()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetColor()

◆ GetDevice()

◆ GetDtype()

◆ GetEllipsoidPoints()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetMinimalOrientedBoundingBox()

◆ GetOrientedBoundingBox()

◆ GetPointIndicesWithinBoundingEllipsoid()

◆ GetRadii()

◆ GetRotation()

◆ IsEmpty()

◆ Rotate()

◆ Scale()

◆ SetCenter()

◆ SetColor()

◆ SetRadii()

◆ SetRotation()

◆ To()

◆ ToLegacy()

◆ ToString()

◆ Translate()

◆ Volume()

Field Documentation

◆ center_

◆ color_

◆ device_

◆ dtype_

◆ radii_

◆ rotation_