LineSet define a sets of lines in 3D. A typical application is to display the point cloud correspondence pairs. More...

#include <LineSet.h>

Inheritance diagram for open3d::geometry::LineSet:

Public Member Functions
	LineSet ()
	Default Constructor. More...

	LineSet (const std::vector< Eigen::Vector3d > &points, const std::vector< Eigen::Vector2i > &lines)
	Parameterized Constructor. More...

	~LineSet () override

LineSet &	Clear () override
	Clear all elements in the geometry. More...

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

Eigen::Vector3d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

Eigen::Vector3d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

Eigen::Vector3d	GetCenter () const override
	Returns the center of the geometry coordinates. More...

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const override

OrientedBoundingBox	GetOrientedBoundingBox (bool robust=false) const override

OrientedBoundingBox	GetMinimalOrientedBoundingBox (bool robust=false) const override

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

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

LineSet &	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...

LineSet &	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...

LineSet &	operator+= (const LineSet &lineset)

LineSet	operator+ (const LineSet &lineset) const

bool	HasPoints () const
	Returns `true` if the object contains points. More...

bool	HasLines () const
	Returns `true` if the object contains lines. More...

bool	HasColors () const
	Returns `true` if the objects lines contains colors. More...

std::pair< Eigen::Vector3d, Eigen::Vector3d >	GetLineCoordinate (size_t line_index) const
	Returns the coordinates of the line at the given index. More...

LineSet &	PaintUniformColor (const Eigen::Vector3d &color)
	Assigns each line in the LineSet the same color. 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 std::shared_ptr< LineSet >	CreateFromPointCloudCorrespondences (const PointCloud &cloud0, const PointCloud &cloud1, const std::vector< std::pair< int, int >> &correspondences)
	Factory function to create a LineSet from two PointClouds (`cloud0`, `cloud1`) and a correspondence set. More...

static std::shared_ptr< LineSet >	CreateFromOrientedBoundingBox (const OrientedBoundingBox &box)
	Factory function to create a LineSet from an OrientedBoundingBox. More...

static std::shared_ptr< LineSet >	CreateFromAxisAlignedBoundingBox (const AxisAlignedBoundingBox &box)
	Factory function to create a LineSet from an AxisAlignedBoundingBox. More...

static std::shared_ptr< LineSet >	CreateFromTriangleMesh (const TriangleMesh &mesh)

static std::shared_ptr< LineSet >	CreateFromTetraMesh (const TetraMesh &mesh)

static std::shared_ptr< LineSet >	CreateCameraVisualization (int view_width_px, int view_height_px, const Eigen::Matrix3d &intrinsic, const Eigen::Matrix4d &extrinsic, double scale=1.0)

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
std::vector< Eigen::Vector3d >	points_
	Points coordinates. More...

std::vector< Eigen::Vector2i >	lines_
	Lines denoted by the index of points forming the line. More...

std::vector< Eigen::Vector3d >	colors_
	RGB colors of lines. 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...

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

LineSet define a sets of lines in 3D. A typical application is to display the point cloud correspondence pairs.

Constructor & Destructor Documentation

◆ LineSet() [1/2]

open3d::geometry::LineSet::LineSet ( )

inline

Default Constructor.

◆ LineSet() [2/2]

open3d::geometry::LineSet::LineSet	(	const std::vector< Eigen::Vector3d > &	points,
		const std::vector< Eigen::Vector2i > &	lines
	)

inline

Parameterized Constructor.

Create a LineSet from given points and line indices

Parameters

points	Point coordinates.
lines	Lines denoted by the index of points forming the line.

◆ ~LineSet()

open3d::geometry::LineSet::~LineSet ( )

inlineoverride

Member Function Documentation

◆ Clear()

LineSet & open3d::geometry::LineSet::Clear ( )

overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry3D.

◆ CreateCameraVisualization()

std::shared_ptr< LineSet > open3d::geometry::LineSet::CreateCameraVisualization	(	int	view_width_px,
		int	view_height_px,
		const Eigen::Matrix3d &	intrinsic,
		const Eigen::Matrix4d &	extrinsic,
		double	scale = `1.0`
	)

static

Factory function to create a LineSet from intrinsic and extrinsic matrices.

Parameters

view_width_px	The width of the view, in pixels
view_height_px	The height of the view, in pixels
intrinsic	The intrinsic matrix
extrinsic	The extrinsic matrix

◆ CreateFromAxisAlignedBoundingBox()

std::shared_ptr< LineSet > open3d::geometry::LineSet::CreateFromAxisAlignedBoundingBox ( const AxisAlignedBoundingBox & box )

static

Factory function to create a LineSet from an AxisAlignedBoundingBox.

Parameters

box	The input bounding box.

◆ CreateFromOrientedBoundingBox()

std::shared_ptr< LineSet > open3d::geometry::LineSet::CreateFromOrientedBoundingBox ( const OrientedBoundingBox & box )

static

Factory function to create a LineSet from an OrientedBoundingBox.

Parameters

box	The input bounding box.

◆ CreateFromPointCloudCorrespondences()

std::shared_ptr< LineSet > open3d::geometry::LineSet::CreateFromPointCloudCorrespondences	(	const PointCloud &	cloud0,
		const PointCloud &	cloud1,
		const std::vector< std::pair< int, int >> &	correspondences
	)

static

Factory function to create a LineSet from two PointClouds (cloud0, cloud1) and a correspondence set.

Parameters

cloud0	First point cloud.
cloud1	Second point cloud.
correspondences	Set of correspondences.

◆ CreateFromTetraMesh()

std::shared_ptr< LineSet > open3d::geometry::LineSet::CreateFromTetraMesh ( const TetraMesh & mesh )

static

Factory function to create a LineSet from edges of a tetra mesh.

Parameters

mesh	The input tetra mesh.

◆ CreateFromTriangleMesh()

std::shared_ptr< LineSet > open3d::geometry::LineSet::CreateFromTriangleMesh ( const TriangleMesh & mesh )

static

Factory function to create a LineSet from edges of a triangle mesh.

Parameters

mesh	The input triangle mesh.

◆ GetAxisAlignedBoundingBox()

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

overridevirtual

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

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

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

overridevirtual

Returns the center of the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetLineCoordinate()

std::pair<Eigen::Vector3d, Eigen::Vector3d> open3d::geometry::LineSet::GetLineCoordinate ( size_t line_index ) const

inline

Returns the coordinates of the line at the given index.

Parameters

line_index Index of the line.

◆ GetMaxBound()

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

overridevirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

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

overridevirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinimalOrientedBoundingBox()

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

overridevirtual

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.

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

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

overridevirtual

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.

Implements open3d::geometry::Geometry3D.

◆ HasColors()

bool open3d::geometry::LineSet::HasColors ( ) const

inline

Returns true if the objects lines contains colors.

◆ HasLines()

bool open3d::geometry::LineSet::HasLines ( ) const

inline

Returns true if the object contains lines.

◆ HasPoints()

bool open3d::geometry::LineSet::HasPoints ( ) const

inline

Returns true if the object contains points.

◆ IsEmpty()

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

overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry3D.

◆ operator+()

LineSet open3d::geometry::LineSet::operator+ ( const LineSet & lineset ) const

◆ operator+=()

LineSet & open3d::geometry::LineSet::operator+= ( const LineSet & lineset )

◆ PaintUniformColor()

LineSet& open3d::geometry::LineSet::PaintUniformColor ( const Eigen::Vector3d & color )

inline

Assigns each line in the LineSet the same color.

Parameters

color Specifies the color to be applied.

◆ Rotate()

LineSet & open3d::geometry::LineSet::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()

LineSet & open3d::geometry::LineSet::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()

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

overridevirtual

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

Implements open3d::geometry::Geometry3D.

◆ Translate()

LineSet & open3d::geometry::LineSet::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.

Field Documentation

◆ colors_

std::vector<Eigen::Vector3d> open3d::geometry::LineSet::colors_

RGB colors of lines.

◆ lines_

std::vector<Eigen::Vector2i> open3d::geometry::LineSet::lines_

Lines denoted by the index of points forming the line.

◆ points_

std::vector<Eigen::Vector3d> open3d::geometry::LineSet::points_

Points coordinates.

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

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

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LineSet() [1/2]

◆ LineSet() [2/2]

◆ ~LineSet()

Member Function Documentation

◆ Clear()

◆ CreateCameraVisualization()

◆ CreateFromAxisAlignedBoundingBox()

◆ CreateFromOrientedBoundingBox()

◆ CreateFromPointCloudCorrespondences()

◆ CreateFromTetraMesh()

◆ CreateFromTriangleMesh()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetLineCoordinate()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetMinimalOrientedBoundingBox()

◆ GetOrientedBoundingBox()

◆ HasColors()

◆ HasLines()

◆ HasPoints()

◆ IsEmpty()

◆ operator+()

◆ operator+=()

◆ PaintUniformColor()

◆ Rotate()

◆ Scale()

◆ Transform()

◆ Translate()

Field Documentation

◆ colors_

◆ lines_

◆ points_