open3d.geometry.OrientedBoundingEllipsoid#

class open3d.geometry.OrientedBoundingEllipsoid#

Class that defines an oriented ellipsoid that can be computed from 3D geometries.

class Type(value)#

Enum class for Geometry types.

HalfEdgeTriangleMesh = 7#
Image = 8#
LineSet = 4#
PointCloud = 1#
RGBDImage = 9#
TetraMesh = 10#
TriangleMesh = 6#
Unspecified = 0#
VoxelGrid = 2#
__init__(*args, **kwargs)#

Overloaded function.

  1. __init__(self: open3d.geometry.OrientedBoundingEllipsoid) -> None

Default constructor

  1. __init__(self: open3d.geometry.OrientedBoundingEllipsoid, arg0: open3d.geometry.OrientedBoundingEllipsoid) -> None

Copy constructor

  1. __init__(self: open3d.geometry.OrientedBoundingEllipsoid, center: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”], R: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 3]”], radii: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”]) -> None

Create OrientedBoundingEllipsoid from center, rotation R and radii in x, y and z direction

clear(self: open3d.geometry.Geometry) → open3d.geometry.Geometry#

Clear all elements in the geometry.

Returns:

open3d.geometry.Geometry

static create_from_points(points: open3d.utility.Vector3dVector, robust: bool = False) → open3d.geometry.OrientedBoundingEllipsoid#

Creates the oriented bounding ellipsoid that encloses the set of points.

Uses Khachiyan’s algorithm to compute the minimum volume enclosing ellipsoid. https://ecommons.cornell.edu/server/api/core/bitstreams/2b9e302e-e31c-45c9-b292-64a1c0d70bef/content

Parameters:

  • points (open3d.utility.Vector3dVector) – Input points.

  • robust (bool) – If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.

Returns:

The minimum volume oriented bounding ellipsoid.

Return type:

open3d.geometry.OrientedBoundingEllipsoid

Example:

import open3d as o3d

# Compute oriented bounding ellipsoid from a mesh
mesh_path = o3d.data.MonkeyModel().path
mesh = o3d.io.read_triangle_mesh(mesh_path)
mesh.compute_triangle_normals()
ellipsoid = mesh.get_oriented_bounding_ellipsoid()
print(f"Volume: {ellipsoid.volume()}")
print(f"Center: {ellipsoid.center}")
print(f"Radii:  {ellipsoid.radii}")
ellipsoid.color = (0, 0.44, 0.77)

# Option 1: wireframe visualization via LineSet
ellipsoid_lines = o3d.geometry.LineSet.create_from_oriented_bounding_ellipsoid(ellipsoid)
o3d.visualization.draw([mesh, ellipsoid_lines])

# Option 2: solid ellipsoid mesh
ellipsoid_mesh = o3d.geometry.TriangleMesh.create_from_oriented_bounding_ellipsoid(ellipsoid)
o3d.visualization.draw([mesh, ellipsoid_mesh])
dimension(self: open3d.geometry.Geometry) → int#

Returns whether the geometry is 2D or 3D.

Returns:

int

get_axis_aligned_bounding_box(self: open3d.geometry.Geometry3D) → open3d.geometry.AxisAlignedBoundingBox#

Returns an axis-aligned bounding box of the geometry.

Returns:

open3d.geometry.AxisAlignedBoundingBox

get_center(self: open3d.geometry.Geometry3D) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']#

Returns the center of the geometry coordinates.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_geometry_type(self: open3d.geometry.Geometry) → open3d.geometry.Geometry.Type#

Returns one of registered geometry types.

Returns:

open3d.geometry.Geometry.Type

get_max_bound(self: open3d.geometry.Geometry3D) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']#

Returns max bounds for geometry coordinates.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_min_bound(self: open3d.geometry.Geometry3D) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']#

Returns min bounds for geometry coordinates.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_minimal_oriented_bounding_box(self: open3d.geometry.Geometry3D, robust: bool = False) → open3d.geometry.OrientedBoundingBox#

Returns the minimal oriented bounding box for the geometry.

Creates the oriented bounding box with the smallest volume. The algorithm makes use of the fact that at least one edge of the convex hull must be collinear with an edge of the minimum bounding box: for each triangle in the convex hull, calculate the minimal axis aligned box in the frame of that triangle. at the end, return the box with the smallest volume

Parameters:

robust (bool) – If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.

Returns:

The oriented bounding box. The bounding box is oriented such that its volume is minimized.

Return type:

open3d.geometry.OrientedBoundingBox

get_oriented_bounding_box(self: open3d.geometry.Geometry3D, robust: bool = False) → open3d.geometry.OrientedBoundingBox#

Returns the oriented bounding box for the geometry.

Computes the oriented bounding box based on the PCA of the convex hull. The returned bounding box is an approximation to the minimal bounding box.

Parameters:

robust (bool) – If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.

Returns:

The oriented bounding box. The bounding box is oriented such that the axes are ordered with respect to the principal components.

Return type:

open3d.geometry.OrientedBoundingBox

static get_rotation_matrix_from_axis_angle(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#
static get_rotation_matrix_from_quaternion(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[4, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#
static get_rotation_matrix_from_xyz(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#
static get_rotation_matrix_from_xzy(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#
static get_rotation_matrix_from_yxz(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#
static get_rotation_matrix_from_yzx(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#
static get_rotation_matrix_from_zxy(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#
static get_rotation_matrix_from_zyx(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#
is_empty(self: open3d.geometry.Geometry) → bool#

Returns True iff the geometry is empty.

Returns:

bool

rotate(*args, **kwargs)#

Overloaded function.

  1. rotate(self: open3d.geometry.Geometry3D, R: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, ) -> open3d.geometry.Geometry3D

    Apply rotation to the geometry coordinates and normals.

Parameters:

R (Annotated[numpy.typing.ArrayLike, numpy.float64,) – The rotation matrix

Returns:

open3d.geometry.Geometry3D

  1. rotate(self: open3d.geometry.Geometry3D, R: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, , center: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, ) -> open3d.geometry.Geometry3D

    Apply rotation to the geometry coordinates and normals.

Parameters:

  • R (Annotated[numpy.typing.ArrayLike, numpy.float64,) – The rotation matrix

  • center (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Rotation center used for transformation.

Returns:

open3d.geometry.Geometry3D

scale(*args, **kwargs)#

Overloaded function.

  1. scale(self: open3d.geometry.Geometry3D, scale: typing.SupportsFloat, center: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, ) -> open3d.geometry.Geometry3D

    Apply scaling to the geometry coordinates.

Parameters:

  • scale (SupportsFloat) – The scale parameter that is multiplied to the points/vertices of the geometry.

  • center (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Scale center used for transformation.

Returns:

open3d.geometry.Geometry3D

  1. scale(self: open3d.geometry.Geometry3D, scale: typing.SupportsFloat, center: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, ) -> open3d.geometry.Geometry3D

    Apply scaling to the geometry coordinates.

Parameters:

  • scale (SupportsFloat) – The scale parameter that is multiplied to the points/vertices of the geometry.

  • center (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Scale center used for transformation.

Returns:

open3d.geometry.Geometry3D

transform(self: open3d.geometry.Geometry3D, arg0: typing.Annotated[numpy.typing.ArrayLike, numpy.float64) → open3d.geometry.Geometry3D#

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

Parameters:

arg0 (Annotated[numpy.typing.ArrayLike, numpy.float64,) –

Returns:

open3d.geometry.Geometry3D

translate(self: open3d.geometry.Geometry3D, translation: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, relative: bool = True) → open3d.geometry.Geometry3D#

Apply translation to the geometry coordinates.

Parameters:

  • translation (Annotated[numpy.typing.ArrayLike, numpy.float64,) – A 3D vector to transform the geometry

  • relative (bool, optional, default=True) – If true, the translation vector is directly added to the geometry coordinates. Otherwise, the center is moved to the translation vector.

Returns:

open3d.geometry.Geometry3D

volume(self: open3d.geometry.OrientedBoundingEllipsoid) → float#

Returns the volume of the bounding ellipsoid.

Returns:

float

HalfEdgeTriangleMesh = 7#
Image = 8#
LineSet = 4#
PointCloud = 1#
property R#

float64 array of shape (3,3 )

RGBDImage = 9#
TetraMesh = 10#
TriangleMesh = 6#
Unspecified = 0#
VoxelGrid = 2#
property center#

float64 array of shape (3, )

property color#

float64 array of shape (3, )

property radii#

float64 array of shape (3, )