The base geometry class for 3D geometries. More...

#include <Geometry3D.h>

Inheritance diagram for open3d::geometry::Geometry3D:

Public Member Functions
	~Geometry3D () override

Geometry3D &	Clear () override=0
	Clear all elements in the geometry. More...

bool	IsEmpty () const override=0
	Returns `true` iff the geometry is empty. More...

virtual Eigen::Vector3d	GetMinBound () const =0
	Returns min bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetMaxBound () const =0
	Returns max bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetCenter () const =0
	Returns the center of the geometry coordinates. More...

virtual AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const =0

virtual OrientedBoundingBox	GetOrientedBoundingBox (bool robust=false) const =0

virtual OrientedBoundingBox	GetMinimalOrientedBoundingBox (bool robust=false) const =0

virtual Geometry3D &	Transform (const Eigen::Matrix4d &transformation)=0
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

virtual Geometry3D &	Translate (const Eigen::Vector3d &translation, bool relative=true)=0
	Apply translation to the geometry coordinates. More...

virtual Geometry3D &	Scale (const double scale, const Eigen::Vector3d &center)=0
	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 Geometry3D &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center)=0
	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...

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 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
	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...

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...

Detailed Description

The base geometry class for 3D geometries.

Main class for 3D geometries, Derives all data from Geometry Base class.

Constructor & Destructor Documentation

◆ ~Geometry3D()

open3d::geometry::Geometry3D::~Geometry3D ( )

inlineoverride

◆ Geometry3D()

open3d::geometry::Geometry3D::Geometry3D ( GeometryType type )

inlineprotected

Parameterized Constructor.

Parameters

type	type of object based on GeometryType.

Member Function Documentation

◆ Clear()

Geometry3D& open3d::geometry::Geometry3D::Clear ( )

overridepure virtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry.

Implemented in open3d::visualization::PointCloudPicker, open3d::geometry::VoxelGrid, open3d::geometry::TriangleMesh, open3d::geometry::TetraMesh, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::HalfEdgeTriangleMesh, open3d::geometry::AxisAlignedBoundingBox, and open3d::geometry::OrientedBoundingBox.

◆ ComputeCenter()

Eigen::Vector3d open3d::geometry::Geometry3D::ComputeCenter ( const std::vector< Eigen::Vector3d > & points ) const

protected

Computer center of a list of points.

◆ ComputeMaxBound()

Eigen::Vector3d open3d::geometry::Geometry3D::ComputeMaxBound ( const std::vector< Eigen::Vector3d > & points ) const

protected

Compute max bound of a list points.

◆ ComputeMinBound()

Eigen::Vector3d open3d::geometry::Geometry3D::ComputeMinBound ( const std::vector< Eigen::Vector3d > & points ) const

protected

Compute min bound of a list points.

◆ GetAxisAlignedBoundingBox()

virtual AxisAlignedBoundingBox open3d::geometry::Geometry3D::GetAxisAlignedBoundingBox ( ) const

pure virtual

Creates the axis-aligned bounding box around the points of the object. Further details in AxisAlignedBoundingBox::CreateFromPoints()

Implemented in open3d::geometry::VoxelGrid, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, open3d::geometry::OrientedBoundingBox, and open3d::visualization::PointCloudPicker.

◆ GetCenter()

virtual Eigen::Vector3d open3d::geometry::Geometry3D::GetCenter ( ) const

pure virtual

Returns the center of the geometry coordinates.

Implemented in open3d::geometry::VoxelGrid, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, open3d::geometry::OrientedBoundingBox, and open3d::visualization::PointCloudPicker.

◆ GetMaxBound()

virtual Eigen::Vector3d open3d::geometry::Geometry3D::GetMaxBound ( ) const

pure virtual

Returns max bounds for geometry coordinates.

Implemented in open3d::geometry::VoxelGrid, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, open3d::geometry::OrientedBoundingBox, and open3d::visualization::PointCloudPicker.

◆ GetMinBound()

virtual Eigen::Vector3d open3d::geometry::Geometry3D::GetMinBound ( ) const

pure virtual

Returns min bounds for geometry coordinates.

Implemented in open3d::geometry::VoxelGrid, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, open3d::geometry::OrientedBoundingBox, and open3d::visualization::PointCloudPicker.

◆ GetMinimalOrientedBoundingBox()

virtual OrientedBoundingBox open3d::geometry::Geometry3D::GetMinimalOrientedBoundingBox ( bool robust = false ) const

pure virtual

Creates the minimal oriented bounding box around the points of the object. Further details in OrientedBoundingBox::CreateFromPointsMinimal()

Parameters

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

Implemented in open3d::geometry::VoxelGrid, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, open3d::visualization::PointCloudPicker, and open3d::geometry::OrientedBoundingBox.

◆ GetOrientedBoundingBox()

virtual OrientedBoundingBox open3d::geometry::Geometry3D::GetOrientedBoundingBox ( bool robust = false ) const

pure virtual

Creates an oriented bounding box around the points of the object. Further details in OrientedBoundingBox::CreateFromPoints()

Parameters

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

Implemented in open3d::geometry::VoxelGrid, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, open3d::visualization::PointCloudPicker, and open3d::geometry::OrientedBoundingBox.

◆ GetRotationMatrixFromAxisAngle()

Eigen::Matrix3d open3d::geometry::Geometry3D::GetRotationMatrixFromAxisAngle ( const Eigen::Vector3d & rotation )

static

Get Rotation Matrix from AxisAngle RotationType.

◆ GetRotationMatrixFromQuaternion()

Eigen::Matrix3d open3d::geometry::Geometry3D::GetRotationMatrixFromQuaternion ( const Eigen::Vector4d & rotation )

static

Get Rotation Matrix from Quaternion.

◆ GetRotationMatrixFromXYZ()

Eigen::Matrix3d open3d::geometry::Geometry3D::GetRotationMatrixFromXYZ ( const Eigen::Vector3d & rotation )

static

Get Rotation Matrix from XYZ RotationType.

◆ GetRotationMatrixFromXZY()

Eigen::Matrix3d open3d::geometry::Geometry3D::GetRotationMatrixFromXZY ( const Eigen::Vector3d & rotation )

static

Get Rotation Matrix from XZY RotationType.

◆ GetRotationMatrixFromYXZ()

Eigen::Matrix3d open3d::geometry::Geometry3D::GetRotationMatrixFromYXZ ( const Eigen::Vector3d & rotation )

static

Get Rotation Matrix from YXZ RotationType.

◆ GetRotationMatrixFromYZX()

Eigen::Matrix3d open3d::geometry::Geometry3D::GetRotationMatrixFromYZX ( const Eigen::Vector3d & rotation )

static

Get Rotation Matrix from YZX RotationType.

◆ GetRotationMatrixFromZXY()

Eigen::Matrix3d open3d::geometry::Geometry3D::GetRotationMatrixFromZXY ( const Eigen::Vector3d & rotation )

static

Get Rotation Matrix from ZXY RotationType.

◆ GetRotationMatrixFromZYX()

Eigen::Matrix3d open3d::geometry::Geometry3D::GetRotationMatrixFromZYX ( const Eigen::Vector3d & rotation )

static

Get Rotation Matrix from ZYX RotationType.

◆ IsEmpty()

bool open3d::geometry::Geometry3D::IsEmpty ( ) const

overridepure virtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry.

Implemented in open3d::visualization::PointCloudPicker, open3d::geometry::VoxelGrid, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, and open3d::geometry::OrientedBoundingBox.

◆ ResizeAndPaintUniformColor()

void open3d::geometry::Geometry3D::ResizeAndPaintUniformColor	(	std::vector< Eigen::Vector3d > &	colors,
		const size_t	size,
		const Eigen::Vector3d &	color
	)		const

protected

Resizes the colors vector and paints a uniform color.

Parameters

colors	An array of eigen vectors specifies colors in RGB.
size	The resultant size of the colors array.
color	The final color in which the colors will be painted.

◆ Rotate() [1/2]

Geometry3D & open3d::geometry::Geometry3D::Rotate ( const Eigen::Matrix3d & R )

virtual

◆ Rotate() [2/2]

virtual Geometry3D& open3d::geometry::Geometry3D::Rotate	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	center
	)

pure virtual

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.

Implemented in open3d::visualization::PointCloudPicker, open3d::geometry::VoxelGrid, open3d::geometry::TriangleMesh, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, and open3d::geometry::OrientedBoundingBox.

◆ RotateCovariances()

void open3d::geometry::Geometry3D::RotateCovariances	(	const Eigen::Matrix3d &	R,
		std::vector< Eigen::Matrix3d > &	covariances
	)		const

protected

Rotate all covariance matrices with the rotation matrix R.

Parameters

R	A 3x3 rotation matrix
covariances	A list of covariance matrices to be transformed.

The only part that affects the covariance is the rotation part. For more information on variance propagation please visit: https://en.wikipedia.org/wiki/Propagation_of_uncertainty

◆ RotateNormals()

void open3d::geometry::Geometry3D::RotateNormals	(	const Eigen::Matrix3d &	R,
		std::vector< Eigen::Vector3d > &	normals
	)		const

protected

Rotate all normals with the rotation matrix R.

Parameters

R	A 3x3 rotation matrix
normals	A list of normals to be transformed.

◆ RotatePoints()

void open3d::geometry::Geometry3D::RotatePoints	(	const Eigen::Matrix3d &	R,
		std::vector< Eigen::Vector3d > &	points,
		const Eigen::Vector3d &	center
	)		const

protected

Rotate all points with the rotation matrix R.

Parameters

R	A 3x3 rotation matrix defines the axis of rotation and the norm the angle around this axis.
points	A list of points to be transformed.
center	Rotation center that is used for the rotation.

◆ Scale()

virtual Geometry3D& open3d::geometry::Geometry3D::Scale	(	const double	scale,
		const Eigen::Vector3d &	center
	)

pure virtual

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.

Implemented in open3d::visualization::PointCloudPicker, open3d::geometry::VoxelGrid, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, and open3d::geometry::OrientedBoundingBox.

◆ ScalePoints()

void open3d::geometry::Geometry3D::ScalePoints	(	const double	scale,
		std::vector< Eigen::Vector3d > &	points,
		const Eigen::Vector3d &	center
	)		const

protected

Scale the coordinates of all points by the scaling factor scale.

Parameters

scale	The scale factor that is used to resize the geometry
points	A list of points to be transformed
center	Scale center that is used to resize the geometry..

◆ Transform()

virtual Geometry3D& open3d::geometry::Geometry3D::Transform ( const Eigen::Matrix4d & transformation )

pure virtual

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

Implemented in open3d::visualization::PointCloudPicker, open3d::geometry::VoxelGrid, open3d::geometry::TriangleMesh, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, and open3d::geometry::OrientedBoundingBox.

◆ TransformCovariances()

void open3d::geometry::Geometry3D::TransformCovariances	(	const Eigen::Matrix4d &	transformation,
		std::vector< Eigen::Matrix3d > &	covariances
	)		const

protected

Transforms all covariance matrices with the transformation.

Parameters

transformation	4x4 matrix for transformation.
covariances	A list of covariance matrices to be transformed.

◆ TransformNormals()

void open3d::geometry::Geometry3D::TransformNormals	(	const Eigen::Matrix4d &	transformation,
		std::vector< Eigen::Vector3d > &	normals
	)		const

protected

Transforms the normals with the transformation matrix.

Parameters

transformation	4x4 matrix for transformation.
normals	A list of normals to be transformed.

◆ TransformPoints()

void open3d::geometry::Geometry3D::TransformPoints	(	const Eigen::Matrix4d &	transformation,
		std::vector< Eigen::Vector3d > &	points
	)		const

protected

Transforms all points with the transformation matrix.

Parameters

transformation	4x4 matrix for transformation.
points	A list of points to be transformed.

◆ Translate()

virtual Geometry3D& open3d::geometry::Geometry3D::Translate	(	const Eigen::Vector3d &	translation,
		bool	relative = `true`
	)

pure virtual

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`.

Implemented in open3d::visualization::PointCloudPicker, open3d::geometry::VoxelGrid, open3d::geometry::PointCloud, open3d::geometry::Octree, open3d::geometry::MeshBase, open3d::geometry::LineSet, open3d::geometry::AxisAlignedBoundingBox, and open3d::geometry::OrientedBoundingBox.

◆ TranslatePoints()

void open3d::geometry::Geometry3D::TranslatePoints	(	const Eigen::Vector3d &	translation,
		std::vector< Eigen::Vector3d > &	points,
		bool	relative
	)		const

protected

Apply translation to the geometry coordinates.

Parameters

translation	A 3D vector to transform the geometry.
points	A list of points to be transformed.
relative	If `true`, the `translation` is directly applied to the `points`. Otherwise, the center of the `points` is moved to the `translation`.

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

/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/Geometry3D.h (1e7b174 (Tue Jan 7 15:20:18 2025 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/Geometry3D.cpp (1e7b174 (Tue Jan 7 15:20:18 2025 -0800))

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~Geometry3D()

◆ Geometry3D()

Member Function Documentation

◆ Clear()

◆ ComputeCenter()

◆ ComputeMaxBound()

◆ ComputeMinBound()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetMinimalOrientedBoundingBox()

◆ GetOrientedBoundingBox()

◆ GetRotationMatrixFromAxisAngle()

◆ GetRotationMatrixFromQuaternion()

◆ GetRotationMatrixFromXYZ()

◆ GetRotationMatrixFromXZY()

◆ GetRotationMatrixFromYXZ()

◆ GetRotationMatrixFromYZX()

◆ GetRotationMatrixFromZXY()

◆ GetRotationMatrixFromZYX()

◆ IsEmpty()

◆ ResizeAndPaintUniformColor()

◆ Rotate() [1/2]

◆ Rotate() [2/2]

◆ RotateCovariances()

◆ RotateNormals()

◆ RotatePoints()

◆ Scale()

◆ ScalePoints()

◆ Transform()

◆ TransformCovariances()

◆ TransformNormals()

◆ TransformPoints()

◆ Translate()

◆ TranslatePoints()