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| OrientedBoundingBox () |
| Default constructor. More...
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| OrientedBoundingBox (const Eigen::Vector3d ¢er, const Eigen::Matrix3d &R, const Eigen::Vector3d &extent) |
| Parameterized constructor. More...
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| ~OrientedBoundingBox () override |
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OrientedBoundingBox & | Clear () override |
| Clear all elements in the geometry. More...
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bool | IsEmpty () const override |
| Returns true iff the geometry is empty. More...
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virtual Eigen::Vector3d | GetMinBound () const override |
| Returns min bounds for geometry coordinates. More...
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virtual Eigen::Vector3d | GetMaxBound () const override |
| Returns max bounds for geometry coordinates. More...
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virtual Eigen::Vector3d | GetCenter () const override |
| Returns the center of the geometry coordinates. More...
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virtual AxisAlignedBoundingBox | GetAxisAlignedBoundingBox () const override |
| Returns an axis-aligned bounding box of the geometry. More...
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virtual OrientedBoundingBox | GetOrientedBoundingBox (bool robust) const override |
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virtual OrientedBoundingBox & | Transform (const Eigen::Matrix4d &transformation) override |
| Apply transformation (4x4 matrix) to the geometry coordinates. More...
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virtual OrientedBoundingBox & | Translate (const Eigen::Vector3d &translation, bool relative=true) override |
| Apply translation to the geometry coordinates. More...
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virtual OrientedBoundingBox & | Scale (const double scale, const Eigen::Vector3d ¢er) 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...
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virtual OrientedBoundingBox & | Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d ¢er) 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...
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double | Volume () const |
| Returns the volume of the bounding box. More...
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std::vector< Eigen::Vector3d > | GetBoxPoints () const |
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std::vector< size_t > | GetPointIndicesWithinBoundingBox (const std::vector< Eigen::Vector3d > &points) const |
| Return indices to points that are within the bounding box. More...
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| ~Geometry3D () override |
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Geometry3D & | Clear () override=0 |
| Clear all elements in the geometry. More...
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bool | IsEmpty () const override=0 |
| Returns true iff the geometry is empty. More...
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virtual Eigen::Vector3d | GetMinBound () const =0 |
| Returns min bounds for geometry coordinates. More...
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virtual Eigen::Vector3d | GetMaxBound () const =0 |
| Returns max bounds for geometry coordinates. More...
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virtual Eigen::Vector3d | GetCenter () const =0 |
| Returns the center of the geometry coordinates. More...
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virtual AxisAlignedBoundingBox | GetAxisAlignedBoundingBox () const =0 |
| Returns an axis-aligned bounding box of the geometry. More...
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virtual OrientedBoundingBox | GetOrientedBoundingBox (bool robust=false) const =0 |
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virtual Geometry3D & | Transform (const Eigen::Matrix4d &transformation)=0 |
| Apply transformation (4x4 matrix) to the geometry coordinates. More...
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virtual Geometry3D & | Translate (const Eigen::Vector3d &translation, bool relative=true)=0 |
| Apply translation to the geometry coordinates. More...
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virtual Geometry3D & | Scale (const double scale, const Eigen::Vector3d ¢er)=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...
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virtual Geometry3D & | Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d ¢er)=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...
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virtual Geometry3D & | Rotate (const Eigen::Matrix3d &R) |
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virtual | ~Geometry () |
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virtual Geometry & | Clear ()=0 |
| Clear all elements in the geometry. More...
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virtual bool | IsEmpty () const =0 |
| Returns true iff the geometry is empty. More...
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GeometryType | GetGeometryType () const |
| Returns one of registered geometry types. More...
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int | Dimension () const |
| Returns whether the geometry is 2D or 3D. More...
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std::string | GetName () const |
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void | SetName (const std::string &name) |
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enum class | GeometryType {
Unspecified = 0
, PointCloud = 1
, VoxelGrid = 2
, Octree = 3
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LineSet = 4
, MeshBase = 5
, TriangleMesh = 6
, HalfEdgeTriangleMesh = 7
,
Image = 8
, RGBDImage = 9
, TetraMesh = 10
, OrientedBoundingBox = 11
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AxisAlignedBoundingBox = 12
} |
| Specifies possible geometry types. More...
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| Geometry3D (GeometryType type) |
| Parameterized Constructor. More...
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Eigen::Vector3d | ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const |
| Compute min bound of a list points. More...
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Eigen::Vector3d | ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const |
| Compute max bound of a list points. More...
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Eigen::Vector3d | ComputeCenter (const std::vector< Eigen::Vector3d > &points) const |
| Computer center of a list of points. More...
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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...
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void | TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const |
| Transforms all points with the transformation matrix. More...
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void | TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const |
| Transforms the normals with the transformation matrix. More...
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void | TransformCovariances (const Eigen::Matrix4d &transformation, std::vector< Eigen::Matrix3d > &covariances) const |
| Transforms all covariance matrices with the transformation. More...
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void | TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const |
| Apply translation to the geometry coordinates. More...
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void | ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d ¢er) const |
| Scale the coordinates of all points by the scaling factor scale . More...
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void | RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d ¢er) const |
| Rotate all points with the rotation matrix R . More...
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void | RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals) const |
| Rotate all normals with the rotation matrix R . More...
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void | RotateCovariances (const Eigen::Matrix3d &R, std::vector< Eigen::Matrix3d > &covariances) const |
| Rotate all covariance matrices with the rotation matrix R . More...
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| Geometry (GeometryType type, int dimension) |
| Parameterized Constructor. More...
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A bounding box oriented along an arbitrary frame of reference.
The oriented bounding box is defined by its center position, rotation maxtrix and extent.