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

#include <BoundingVolume.h>

Inheritance diagram for cloudViewer::t::geometry::OrientedBoundingBox:

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Collaboration diagram for cloudViewer::t::geometry::OrientedBoundingBox:

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

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

virtual	~OrientedBoundingBox () override

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

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

OrientedBoundingBox	To (const core::Device &device, bool copy=false) const

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

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

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

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

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

core::Tensor	GetMinBound () const

core::Tensor	GetMaxBound () const

core::Tensor	GetColor () const

core::Tensor	GetCenter () const

core::Tensor	GetRotation () const

core::Tensor	GetExtent () const

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

OrientedBoundingBox &	Rotate (const core::Tensor &rotation, const utility::optional< core::Tensor > &center=utility::nullopt)
	Rotate the oriented box by the given rotation matrix. If the rotation matrix is not orthogonal, the rotation will no be applied. The rotation center will be the box center if it is not specified. More...

OrientedBoundingBox &	Transform (const core::Tensor &transformation)
	Transform the oriented box by the given transformation matrix. More...

OrientedBoundingBox &	Scale (double scale, const utility::optional< core::Tensor > &center=utility::nullopt)
	Scale the axis-aligned box. If is the min_bound and is the max_bound of the axis aligned bounding box, and and are the provided scaling factor and center respectively, then the new min_bound and max_bound are given by and . The scaling center will be the box center if it is not specified. More...

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

core::Tensor	GetBoxPoints () const
	Returns the eight points that define the bounding box. More...

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

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

cloudViewer::geometry::OrientedBoundingBox	ToLegacy () const
	Convert to a legacy CloudViewer oriented box. More...

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

Public Member Functions inherited from cloudViewer::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 cloudViewer::core::IsDevice
	IsDevice ()=default

virtual	~IsDevice ()=default

bool	IsCPU () const

bool	IsCUDA () const

bool	IsSYCL () const

Public Member Functions inherited from cloudViewer::t::geometry::DrawableGeometry
	DrawableGeometry ()

	~DrawableGeometry ()

bool	HasMaterial () const
	Check if a material has been applied to this Geometry with SetMaterial. More...

visualization::rendering::Material &	GetMaterial ()
	Get material associated with this Geometry. More...

const visualization::rendering::Material &	GetMaterial () const
	Get const reference to material associated with this Geometry. More...

void	SetMaterial (const visualization::rendering::Material &material)
	Set the material properties associate with this Geometry. More...

Static Public Member Functions
static OrientedBoundingBox	CreateFromAxisAlignedBoundingBox (const AxisAlignedBoundingBox &aabb)

static OrientedBoundingBox	FromLegacy (const cloudViewer::geometry::OrientedBoundingBox &box, const core::Dtype &dtype=core::Float32, const core::Device &device=core::Device("CPU:0"))

static OrientedBoundingBox	CreateFromPoints (const core::Tensor &points, bool robust=false, MethodOBBCreate method=MethodOBBCreate::MINIMAL_APPROX)

Protected Attributes
core::Device	device_ = core::Device("CPU:0")

core::Dtype	dtype_ = core::Float32

core::Tensor	center_

core::Tensor	rotation_

core::Tensor	extent_

core::Tensor	color_

Additional Inherited Members
Public Types inherited from cloudViewer::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 }
	Specifies possible geometry types. More...

Protected Member Functions inherited from cloudViewer::t::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

A bounding box oriented along an arbitrary frame of reference.

(center, rotation, extent): The oriented bounding box is defined by its center position, rotation matrix and extent.
- Usage
- Value tensor of center and extent 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 box.
color: Color of the bounding box.
- Usage
  - OrientedBoundingBox::GetColor()
  - OrientedBoundingBox::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].

Definition at line 258 of file BoundingVolume.h.

Constructor & Destructor Documentation

◆ OrientedBoundingBox() [1/2]

cloudViewer::t::geometry::OrientedBoundingBox::OrientedBoundingBox ( const core::Device & device = core::Device("CPU:0") )

Construct an empty OrientedBoundingBox on the provided device.

Definition at line 306 of file BoundingVolume.cpp.

Referenced by CreateFromPoints().

◆ OrientedBoundingBox() [2/2]

cloudViewer::t::geometry::OrientedBoundingBox::OrientedBoundingBox	(	const core::Tensor &	center,
		const core::Tensor &	rotation,
		const core::Tensor &	extent
	)

Construct an OrientedBoundingBox from center, rotation and extent.

The OrientedBoundingBox 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 box. Tensor of shape {3,}, and type float32 or float64.
rotation	Rotation matrix of the bounding box. Tensor of shape {3, 3}, and type float32 or float64.
extent	Extent of the bounding box. Tensor of shape {3,}, and type float32 or float64.

Definition at line 315 of file BoundingVolume.cpp.

References AssertTensorDevice, AssertTensorDtype, AssertTensorDtypes, AssertTensorShape, cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::core::Tensor::GetDevice(), and cloudViewer::core::Tensor::GetDtype().

◆ ~OrientedBoundingBox()

virtual cloudViewer::t::geometry::OrientedBoundingBox::~OrientedBoundingBox ( )

inlineoverridevirtual

Definition at line 279 of file BoundingVolume.h.

Member Function Documentation

◆ Clear()

OrientedBoundingBox & cloudViewer::t::geometry::OrientedBoundingBox::Clear ( )

overridevirtual

Clear all elements in the geometry.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 361 of file BoundingVolume.cpp.

References center_, color_, extent_, cloudViewer::core::Tensor::Eye(), GetDevice(), GetDtype(), cloudViewer::core::Tensor::Ones(), rotation_, and cloudViewer::core::Tensor::Zeros().

◆ Clone()

OrientedBoundingBox cloudViewer::t::geometry::OrientedBoundingBox::Clone ( ) const

inline

Returns copy of the OrientedBoundingBox on the same device.

Definition at line 295 of file BoundingVolume.h.

References GetDevice(), and To().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume().

◆ CreateFromAxisAlignedBoundingBox()

OrientedBoundingBox cloudViewer::t::geometry::OrientedBoundingBox::CreateFromAxisAlignedBoundingBox ( const AxisAlignedBoundingBox & aabb )

static

Create an oriented bounding box from the AxisAlignedBoundingBox.

Parameters

aabb	AxisAlignedBoundingBox object from which OrientedBoundingBox is created.

Returns: OrientedBoundingBox with the same device and dtype as input box.

Definition at line 548 of file BoundingVolume.cpp.

References cloudViewer::core::Tensor::Eye(), cloudViewer::t::geometry::AxisAlignedBoundingBox::GetCenter(), cloudViewer::t::geometry::AxisAlignedBoundingBox::GetDevice(), cloudViewer::t::geometry::AxisAlignedBoundingBox::GetDtype(), and cloudViewer::t::geometry::AxisAlignedBoundingBox::GetExtent().

Referenced by cloudViewer::t::geometry::AxisAlignedBoundingBox::GetOrientedBoundingBox(), and cloudViewer::t::geometry::pybind_boundingvolume().

◆ CreateFromPoints()

OrientedBoundingBox cloudViewer::t::geometry::OrientedBoundingBox::CreateFromPoints	(	const core::Tensor &	points,
		bool	robust = `false`,
		MethodOBBCreate	method = `MethodOBBCreate::MINIMAL_APPROX`
	)

static

Creates an oriented bounding box with various algorithms.

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.
method	This is one of `PCA`, `MINIMAL_APPROX`, `MINIMAL_JYLANKI` in the cloudViewer::t::geometry::MethodOBBCreate namespace. `PCA` computes an oriented bounding box using the principal component analysis of the convex hull. `MINIMAL_APPROX` computes an oriented bounding box using a fast approximation algorithm. 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. `MINIMAL_JYLANKI` computes an oriented bounding box using a more accurate but slower algorithm. This algorithm is inspired by the article "An Exact Algorithm for Finding Minimum Oriented Bounding Boxes" written by Jukka Jylänki. The original implementation can be found at the following address: https://github.com/juj/MathGeoLib/blob/55053da5e3e55a83043af7324944407b174c3724/src/Geometry/OBB.cpp#L987

Returns: OrientedBoundingBox with same data type and device as input points.

Definition at line 584 of file BoundingVolume.cpp.

References AssertTensorDtypes, AssertTensorShape, cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBApprox(), cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBJylanki(), ecvOrientedBBox::CreateFromPoints(), cloudViewer::core::Float32, cloudViewer::core::Float64, FromLegacy(), LogError, cloudViewer::t::geometry::MINIMAL_APPROX, cloudViewer::t::geometry::MINIMAL_JYLANKI, cloudViewer::utility::nullopt, OrientedBoundingBox(), cloudViewer::t::geometry::PCA, points, and cloudViewer::core::eigen_converter::TensorToEigenVector3dVector().

Referenced by cloudViewer::t::geometry::LineSet::GetOrientedBoundingBox(), cloudViewer::t::geometry::PointCloud::GetOrientedBoundingBox(), cloudViewer::t::geometry::TriangleMesh::GetOrientedBoundingBox(), and cloudViewer::t::geometry::pybind_boundingvolume().

◆ FromLegacy()

OrientedBoundingBox cloudViewer::t::geometry::OrientedBoundingBox::FromLegacy	(	const cloudViewer::geometry::OrientedBoundingBox &	box,
		const core::Dtype &	dtype = `core::Float32`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

static

Create an OrientedBoundingBox from a legacy CloudViewer oriented box.

Parameters

box	Legacy OrientedBoundingBox.
dtype	The data type of the box for min_bound max_bound and color. The default is float32.
device	The device of the box. The default is CPU:0.

Definition at line 557 of file BoundingVolume.cpp.

References cloudViewer::core::eigen_converter::EigenMatrixToTensor(), cloudViewer::core::Tensor::Flatten(), cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::OrientedBoundingBox::GetColor(), cloudViewer::OrientedBoundingBox::GetExtent(), cloudViewer::OrientedBoundingBox::GetPosition(), cloudViewer::OrientedBoundingBox::GetRotation(), LogError, SetColor(), cloudViewer::core::Tensor::To(), and cloudViewer::core::Dtype::ToString().

Referenced by CreateFromPoints(), and cloudViewer::t::geometry::pybind_boundingvolume().

◆ GetAxisAlignedBoundingBox()

AxisAlignedBoundingBox cloudViewer::t::geometry::OrientedBoundingBox::GetAxisAlignedBoundingBox ( ) const

Convert to an axis-aligned box.

Definition at line 544 of file BoundingVolume.cpp.

References cloudViewer::t::geometry::AxisAlignedBoundingBox::CreateFromPoints(), and GetBoxPoints().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume().

◆ GetBoxPoints()

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::GetBoxPoints ( ) const

Returns the eight points that define the bounding box.

The Return tensor has shape {8, 3} and data type same as the box.

///      ------- x
///     /|
///    / |
///   /  | z
///  y
///      0 ------------------- 1
///       /|                /|
///      / |               / |
///     /  |              /  |
///    /   |             /   |
/// 2 ------------------- 7  |
///   |    |____________|____| 6
///   |   /3            |   /
///   |  /              |  /
///   | /               | /
///   |/                |/
/// 5 ------------------- 4
///

Definition at line 428 of file BoundingVolume.cpp.

References cloudViewer::core::Tensor::Add(), cloudViewer::t::geometry::AxisAlignedBoundingBox::GetBoxPoints(), GetCenter(), GetExtent(), GetRotation(), and cloudViewer::core::Tensor::Matmul().

Referenced by GetAxisAlignedBoundingBox(), GetMaxBound(), GetMinBound(), and cloudViewer::t::geometry::pybind_boundingvolume().

◆ GetCenter()

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::GetCenter ( ) const

inline

Definition at line 335 of file BoundingVolume.h.

References center_.

Referenced by cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBApprox(), GetBoxPoints(), cloudViewer::t::geometry::pybind_boundingvolume(), and ToLegacy().

◆ GetColor()

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::GetColor ( ) const

inline

Definition at line 333 of file BoundingVolume.h.

References color_.

Referenced by cloudViewer::t::geometry::pybind_boundingvolume(), and ToLegacy().

◆ GetDevice()

core::Device cloudViewer::t::geometry::OrientedBoundingBox::GetDevice ( ) const

inlineoverridevirtual

Returns the device attribute of this OrientedBoundingBox.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 282 of file BoundingVolume.h.

References device_.

Referenced by Clear(), Clone(), cloudViewer::t::geometry::PointCloud::Crop(), GetPointIndicesWithinBoundingBox(), Rotate(), Scale(), SetCenter(), SetColor(), SetExtent(), SetRotation(), To(), ToString(), Transform(), and Translate().

◆ GetDtype()

core::Dtype cloudViewer::t::geometry::OrientedBoundingBox::GetDtype ( ) const

inline

Returns the data type attribute of this OrientedBoundingBox.

Definition at line 285 of file BoundingVolume.h.

References dtype_.

Referenced by Clear(), Rotate(), Scale(), SetCenter(), SetColor(), SetExtent(), SetRotation(), ToString(), Transform(), and Translate().

◆ GetExtent()

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::GetExtent ( ) const

inline

Definition at line 339 of file BoundingVolume.h.

References extent_.

Referenced by cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBApprox(), GetBoxPoints(), cloudViewer::t::geometry::pybind_boundingvolume(), ToLegacy(), and Volume().

◆ GetMaxBound()

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::GetMaxBound ( ) const

Definition at line 424 of file BoundingVolume.cpp.

References GetBoxPoints(), and cloudViewer::core::Tensor::Max().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume().

◆ GetMinBound()

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::GetMinBound ( ) const

Definition at line 420 of file BoundingVolume.cpp.

References GetBoxPoints(), and cloudViewer::core::Tensor::Min().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume().

◆ GetPointIndicesWithinBoundingBox()

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::GetPointIndicesWithinBoundingBox ( const core::Tensor & points ) const

Indices to points that are within the bounding box.

Parameters

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

Definition at line 509 of file BoundingVolume.cpp.

References AssertTensorDevice, AssertTensorDtypes, AssertTensorShape, cloudViewer::core::Bool, center_, extent_, cloudViewer::core::Float32, cloudViewer::core::Float64, GetDevice(), cloudViewer::t::geometry::kernel::pointcloud::GetPointMaskWithinOBB(), cloudViewer::utility::nullopt, points, rotation_, cloudViewer::core::Tensor::To(), and cloudViewer::core::Tensor::Zeros().

Referenced by cloudViewer::t::geometry::PointCloud::Crop(), and cloudViewer::t::geometry::pybind_boundingvolume().

◆ GetRotation()

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::GetRotation ( ) const

inline

Definition at line 337 of file BoundingVolume.h.

References rotation_.

Referenced by cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBApprox(), GetBoxPoints(), cloudViewer::t::geometry::pybind_boundingvolume(), and ToLegacy().

◆ IsEmpty()

bool cloudViewer::t::geometry::OrientedBoundingBox::IsEmpty ( ) const

inlineoverridevirtual

Returns true iff the geometry is empty.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 299 of file BoundingVolume.h.

References Volume().

Referenced by cloudViewer::t::geometry::PointCloud::Crop().

◆ Rotate()

OrientedBoundingBox & cloudViewer::t::geometry::OrientedBoundingBox::Rotate	(	const core::Tensor &	rotation,
		const utility::optional< core::Tensor > &	center = `utility::nullopt`
	)

Rotate the oriented box by the given rotation matrix. If the rotation matrix is not orthogonal, the rotation will no be applied. The rotation center will be the box center if it is not specified.

Parameters

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

Definition at line 449 of file BoundingVolume.cpp.

References cloudViewer::core::Tensor::AllClose(), AssertTensorDevice, AssertTensorDtypes, AssertTensorShape, center_, cloudViewer::core::Tensor::Flatten(), cloudViewer::core::Float32, cloudViewer::core::Float64, GetDevice(), GetDtype(), cloudViewer::utility::optional< T >::has_value(), cloudViewer::core::Tensor::Inverse(), LogWarning, cloudViewer::core::Tensor::Matmul(), rotation_, cloudViewer::core::Tensor::T(), cloudViewer::core::Tensor::To(), and cloudViewer::utility::optional< T >::value().

Referenced by cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBApprox(), cloudViewer::t::geometry::pybind_boundingvolume(), and Transform().

◆ Scale()

OrientedBoundingBox & cloudViewer::t::geometry::OrientedBoundingBox::Scale	(	double	scale,
		const utility::optional< core::Tensor > &	center = `utility::nullopt`
	)

Scale the axis-aligned box. If $mi$ is the min_bound and $ma$ is the max_bound of the axis aligned bounding box, and $s$ and $c$ are the provided scaling factor and center respectively, then the new min_bound and max_bound are given by $mi = c + s (mi - c)$ and $ma = c + s (ma - c)$ . The scaling center will be the box 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 box.

Definition at line 494 of file BoundingVolume.cpp.

References AssertTensorDevice, AssertTensorDtypes, AssertTensorShape, center_, extent_, cloudViewer::core::Float32, cloudViewer::core::Float64, GetDevice(), GetDtype(), cloudViewer::utility::optional< T >::has_value(), cloudViewer::core::Tensor::To(), and cloudViewer::utility::optional< T >::value().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume().

◆ SetCenter()

void cloudViewer::t::geometry::OrientedBoundingBox::SetCenter ( const core::Tensor & center )

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

Parameters

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

Definition at line 369 of file BoundingVolume.cpp.

References AssertTensorDevice, AssertTensorDtypes, AssertTensorShape, center_, cloudViewer::core::Float32, cloudViewer::core::Float64, GetDevice(), GetDtype(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume(), and To().

◆ SetColor()

void cloudViewer::t::geometry::OrientedBoundingBox::SetColor ( const core::Tensor & color )

Set the color of the box.

Parameters

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

Definition at line 405 of file BoundingVolume.cpp.

References AssertTensorDevice, AssertTensorShape, color, color_, cloudViewer::core::Float64, GetDevice(), GetDtype(), and LogError.

Referenced by FromLegacy(), cloudViewer::t::geometry::pybind_boundingvolume(), and To().

◆ SetExtent()

void cloudViewer::t::geometry::OrientedBoundingBox::SetExtent ( const core::Tensor & extent )

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

Parameters

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

Definition at line 377 of file BoundingVolume.cpp.

References AssertTensorDevice, AssertTensorDtypes, AssertTensorShape, extent_, cloudViewer::core::Float32, cloudViewer::core::Float64, GetDevice(), GetDtype(), cloudViewer::core::Tensor::Item(), LogError, cloudViewer::core::Tensor::Min(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume(), and To().

◆ SetRotation()

void cloudViewer::t::geometry::OrientedBoundingBox::SetRotation ( const core::Tensor & rotation )

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

Parameters

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

Definition at line 391 of file BoundingVolume.cpp.

References cloudViewer::core::Tensor::AllClose(), AssertTensorDevice, AssertTensorDtypes, AssertTensorShape, cloudViewer::core::Float32, cloudViewer::core::Float64, GetDevice(), GetDtype(), cloudViewer::core::Tensor::Inverse(), LogWarning, rotation_, cloudViewer::core::Tensor::T(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume(), and To().

◆ To()

OrientedBoundingBox cloudViewer::t::geometry::OrientedBoundingBox::To	(	const core::Device &	device,
		bool	copy = `false`
	)		const

Transfer the OrientedBoundingBox to a specified device.

Parameters

device	The targeted device to convert to.
copy	If true, a new OrientedBoundingBox is always created; if false, the copy is avoided when the original OrientedBoundingBox is already on the targeted device.

Definition at line 348 of file BoundingVolume.cpp.

References center_, color_, copy, extent_, GetDevice(), rotation_, SetCenter(), SetColor(), SetExtent(), SetRotation(), and cloudViewer::core::Tensor::To().

Referenced by Clone(), cloudViewer::t::geometry::pybind_boundingvolume(), and Volume().

◆ ToLegacy()

cloudViewer::geometry::OrientedBoundingBox cloudViewer::t::geometry::OrientedBoundingBox::ToLegacy ( ) const

Convert to a legacy CloudViewer oriented box.

Definition at line 531 of file BoundingVolume.cpp.

References GetCenter(), GetColor(), GetExtent(), GetRotation(), cloudViewer::OrientedBoundingBox::SetColor(), cloudViewer::core::eigen_converter::TensorToEigenMatrixXd(), and cloudViewer::core::eigen_converter::TensorToEigenVector3dVector().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume().

◆ ToString()

std::string cloudViewer::t::geometry::OrientedBoundingBox::ToString ( ) const

Text description.

Definition at line 526 of file BoundingVolume.cpp.

References format, GetDevice(), and GetDtype().

◆ Transform()

OrientedBoundingBox & cloudViewer::t::geometry::OrientedBoundingBox::Transform ( const core::Tensor & transformation )

Transform the oriented box by the given transformation matrix.

Parameters

transformation Transformation matrix of shape {4, 4}, type float32 or float64, device same as the box.

Definition at line 478 of file BoundingVolume.cpp.

References AssertTensorDevice, AssertTensorDtypes, AssertTensorShape, cloudViewer::core::Float32, cloudViewer::core::Float64, GetDevice(), GetDtype(), cloudViewer::core::TensorKey::Index(), Rotate(), cloudViewer::core::TensorKey::Slice(), cloudViewer::core::Tensor::To(), and Translate().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume().

◆ Translate()

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

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

Definition at line 434 of file BoundingVolume.cpp.

References AssertTensorDevice, AssertTensorDtypes, AssertTensorShape, center_, cloudViewer::core::Float32, cloudViewer::core::Float64, GetDevice(), GetDtype(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_boundingvolume(), and Transform().

◆ Volume()

double cloudViewer::t::geometry::OrientedBoundingBox::Volume ( ) const

inline

Returns the volume of the bounding box.

Definition at line 385 of file BoundingVolume.h.

References cloudViewer::core::Float64, GetExtent(), cloudViewer::core::Tensor::Prod(), and To().

Referenced by cloudViewer::t::geometry::kernel::minimum_obb::ComputeMinimumOBBApprox(), IsEmpty(), and cloudViewer::t::geometry::pybind_boundingvolume().

Member Data Documentation

◆ center_

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::center_

protected

Definition at line 480 of file BoundingVolume.h.

Referenced by Clear(), GetCenter(), GetPointIndicesWithinBoundingBox(), Rotate(), Scale(), SetCenter(), To(), and Translate().

◆ color_

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::color_

protected

Definition at line 483 of file BoundingVolume.h.

Referenced by Clear(), GetColor(), SetColor(), and To().

◆ device_

core::Device cloudViewer::t::geometry::OrientedBoundingBox::device_ = core::Device("CPU:0")

protected

Definition at line 478 of file BoundingVolume.h.

Referenced by GetDevice().

◆ dtype_

core::Dtype cloudViewer::t::geometry::OrientedBoundingBox::dtype_ = core::Float32

protected

Definition at line 479 of file BoundingVolume.h.

Referenced by GetDtype().

◆ extent_

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::extent_

protected

Definition at line 482 of file BoundingVolume.h.

Referenced by Clear(), GetExtent(), GetPointIndicesWithinBoundingBox(), Scale(), SetExtent(), and To().

◆ rotation_

core::Tensor cloudViewer::t::geometry::OrientedBoundingBox::rotation_

protected

Definition at line 481 of file BoundingVolume.h.

Referenced by Clear(), GetPointIndicesWithinBoundingBox(), GetRotation(), Rotate(), SetRotation(), and To().

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

/root/ACloudViewer/libs/cloudViewer/t/geometry/BoundingVolume.h
/root/ACloudViewer/libs/cloudViewer/t/geometry/BoundingVolume.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OrientedBoundingBox() [1/2]

◆ OrientedBoundingBox() [2/2]

◆ ~OrientedBoundingBox()

Member Function Documentation

◆ Clear()

◆ Clone()

◆ CreateFromAxisAlignedBoundingBox()

◆ CreateFromPoints()

◆ FromLegacy()

◆ GetAxisAlignedBoundingBox()

◆ GetBoxPoints()

◆ GetCenter()

◆ GetColor()

◆ GetDevice()

◆ GetDtype()

◆ GetExtent()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetPointIndicesWithinBoundingBox()

◆ GetRotation()

◆ IsEmpty()

◆ Rotate()

◆ Scale()

◆ SetCenter()

◆ SetColor()

◆ SetExtent()

◆ SetRotation()

◆ To()

◆ ToLegacy()

◆ ToString()

◆ Transform()

◆ Translate()

◆ Volume()

Member Data Documentation

◆ center_

◆ color_

◆ device_

◆ dtype_

◆ extent_

◆ rotation_