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

#include <OrientedBoundingBox.h>

Inheritance diagram for cloudViewer::OrientedBoundingBox:

Public Member Functions
	OrientedBoundingBox ()
	Default constructor. More...

	OrientedBoundingBox (const Eigen::Vector3d &center, const Eigen::Matrix3d &R, const Eigen::Vector3d &extent)
	Parameterized constructor. More...

virtual	~OrientedBoundingBox ()

OrientedBoundingBox &	Clear ()

const Eigen::Vector3d &	GetExtent () const

CCVector3	getCenter () const
	Returns center. More...

Eigen::Vector3d	GetHalfExtent () const
	Returns the half extent of the bounding box in its frame of reference. More...

double	GetMaxExtent () const
	Returns the max extent of the bounding box in its frame of reference. More...

void	SetColor (const Eigen::Vector3d &color)
	Sets the bounding box color. More...

const Eigen::Vector3d &	GetColor () const
	Gets the bounding box color. More...

const Eigen::Matrix3d &	GetRotation () const

const Eigen::Vector3d &	GetPosition () const

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

std::vector< Eigen::Vector3d >	GetBoxPoints () const

std::vector< size_t >	GetPointIndicesWithinBoundingBox (const std::vector< Eigen::Vector3d > &points) const
	Return indices to points that are within the bounding box. More...

std::vector< size_t >	GetPointIndicesWithinBoundingBox (const std::vector< CCVector3 > &points) const

Static Public Member Functions
static OrientedBoundingBox	CreateFromAxisAlignedBoundingBox (const BoundingBox &aabox)

Public Attributes
Eigen::Vector3d	center_
	The center point of the bounding box. More...

Eigen::Matrix3d	R_

Eigen::Vector3d	extent_
	The extent of the bounding box in its frame of reference. More...

Eigen::Vector3d	color_
	The color of the bounding box in RGB. More...

Detailed Description

A bounding box oriented along an arbitrary frame of reference.

The oriented bounding box is defined by its center position, rotation maxtrix and extent.

Definition at line 22 of file OrientedBoundingBox.h.

Constructor & Destructor Documentation

◆ OrientedBoundingBox() [1/2]

cloudViewer::OrientedBoundingBox::OrientedBoundingBox ( )

inline

Default constructor.

Creates an empty Oriented Bounding Box.

Definition at line 27 of file OrientedBoundingBox.h.

◆ OrientedBoundingBox() [2/2]

cloudViewer::OrientedBoundingBox::OrientedBoundingBox	(	const Eigen::Vector3d &	center,
		const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	extent
	)

inline

Parameterized constructor.

Parameters

center	Specifies the center position of the bounding box.
R	The rotation matrix specifying the orientation of the bounding box with the original frame of reference.
extent	The extent of the bounding box.

Definition at line 38 of file OrientedBoundingBox.h.

◆ ~OrientedBoundingBox()

virtual cloudViewer::OrientedBoundingBox::~OrientedBoundingBox ( )

inlinevirtual

Definition at line 42 of file OrientedBoundingBox.h.

Member Function Documentation

◆ Clear()

OrientedBoundingBox & OrientedBoundingBox::Clear ( )

Definition at line 22 of file OrientedBoundingBox.cpp.

References center_, color_, extent_, and R_.

◆ CreateFromAxisAlignedBoundingBox()

OrientedBoundingBox OrientedBoundingBox::CreateFromAxisAlignedBoundingBox ( const BoundingBox & aabox )

static

Returns an oriented bounding box from the AxisAlignedBoundingBox.

Parameters

aabox AxisAlignedBoundingBox object from which OrientedBoundingBox is created.

Definition at line 74 of file OrientedBoundingBox.cpp.

References center_, extent_, Vector3Tpl< double >::fromArray(), cloudViewer::BoundingBoxTpl< T >::getCenter(), cloudViewer::BoundingBoxTpl< T >::getDiagVec(), and R_.

◆ GetBoxPoints()

std::vector< Eigen::Vector3d > OrientedBoundingBox::GetBoxPoints ( ) const

Returns the eight points that define the bounding box.

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

Definition at line 34 of file OrientedBoundingBox.cpp.

References center_, extent_, points, and R_.

Referenced by cloudViewer::geometry::LineSet::CreateFromOrientedBoundingBox(), ecvOrientedBBox::GetAxisAlignedBoundingBox(), ecvOrientedBBox::GetMaxBound(), and ecvOrientedBBox::GetMinBound().

◆ getCenter()

CCVector3 cloudViewer::OrientedBoundingBox::getCenter ( ) const

inline

Returns center.

Definition at line 52 of file OrientedBoundingBox.h.

References center_.

◆ GetColor()

const Eigen::Vector3d& cloudViewer::OrientedBoundingBox::GetColor ( ) const

inline

Gets the bounding box color.

Definition at line 63 of file OrientedBoundingBox.h.

Referenced by PclUtils::PCLVis::addOrientedCube(), cloudViewer::geometry::LineSet::CreateFromOrientedBoundingBox(), and cloudViewer::t::geometry::OrientedBoundingBox::FromLegacy().

◆ GetExtent()

const Eigen::Vector3d& cloudViewer::OrientedBoundingBox::GetExtent ( ) const

inline

Get the extent/length of the bounding box in x, y, and z dimension in its frame of reference.

Definition at line 49 of file OrientedBoundingBox.h.

References extent_.

Referenced by cloudViewer::t::geometry::OrientedBoundingBox::FromLegacy().

◆ GetHalfExtent()

Eigen::Vector3d cloudViewer::OrientedBoundingBox::GetHalfExtent ( ) const

inline

Returns the half extent of the bounding box in its frame of reference.

Definition at line 55 of file OrientedBoundingBox.h.

Referenced by GetPointIndicesWithinBoundingBox().

◆ GetMaxExtent()

double cloudViewer::OrientedBoundingBox::GetMaxExtent ( ) const

inline

Returns the max extent of the bounding box in its frame of reference.

Definition at line 58 of file OrientedBoundingBox.h.

References extent_.

◆ GetPointIndicesWithinBoundingBox() [1/2]

std::vector< size_t > OrientedBoundingBox::GetPointIndicesWithinBoundingBox ( const std::vector< CCVector3 > & points ) const

Definition at line 56 of file OrientedBoundingBox.cpp.

References center_, Vector3Tpl< double >::fromArray(), GetHalfExtent(), points, and R_.

◆ GetPointIndicesWithinBoundingBox() [2/2]

std::vector< size_t > OrientedBoundingBox::GetPointIndicesWithinBoundingBox ( const std::vector< Eigen::Vector3d > & points ) const

Return indices to points that are within the bounding box.

Definition at line 50 of file OrientedBoundingBox.cpp.

References Vector3Tpl< PointCoordinateType >::fromArrayContainer(), and points.

Referenced by ccMesh::Crop(), ccPointCloud::Crop(), and ccPointCloud::crop().

◆ GetPosition()

const Eigen::Vector3d& cloudViewer::OrientedBoundingBox::GetPosition ( ) const

inline

Definition at line 67 of file OrientedBoundingBox.h.

References center_.

Referenced by cloudViewer::t::geometry::OrientedBoundingBox::FromLegacy().

◆ GetRotation()

const Eigen::Matrix3d& cloudViewer::OrientedBoundingBox::GetRotation ( ) const

inline

Definition at line 65 of file OrientedBoundingBox.h.

References R_.

Referenced by cloudViewer::t::geometry::OrientedBoundingBox::FromLegacy().

◆ SetColor()

void cloudViewer::OrientedBoundingBox::SetColor ( const Eigen::Vector3d & color )

inline

Sets the bounding box color.

Definition at line 61 of file OrientedBoundingBox.h.

References color.

Referenced by ecvOrientedBBox::draw(), ccGBLSensor::drawMeOnly(), and cloudViewer::t::geometry::OrientedBoundingBox::ToLegacy().

◆ volume()

double OrientedBoundingBox::volume ( ) const

Returns the volume of the bounding box.

Definition at line 30 of file OrientedBoundingBox.cpp.

References extent_.

Referenced by ecvOrientedBBox::IsEmpty().

Member Data Documentation

◆ center_

Eigen::Vector3d cloudViewer::OrientedBoundingBox::center_

The center point of the bounding box.

Definition at line 110 of file OrientedBoundingBox.h.

Referenced by Clear(), CreateFromAxisAlignedBoundingBox(), ecvOrientedBBox::CreateFromAxisAlignedBoundingBox(), ecvOrientedBBox::CreateFromPoints(), GetBoxPoints(), ecvOrientedBBox::GetCenter(), GetPointIndicesWithinBoundingBox(), ecvOrientedBBox::Rotate(), ecvOrientedBBox::Scale(), and ecvOrientedBBox::Translate().

◆ color_

Eigen::Vector3d cloudViewer::OrientedBoundingBox::color_

The color of the bounding box in RGB.

Definition at line 117 of file OrientedBoundingBox.h.

Referenced by Clear().

◆ extent_

Eigen::Vector3d cloudViewer::OrientedBoundingBox::extent_

The extent of the bounding box in its frame of reference.

Definition at line 115 of file OrientedBoundingBox.h.

Referenced by Clear(), CreateFromAxisAlignedBoundingBox(), ecvOrientedBBox::CreateFromAxisAlignedBoundingBox(), ecvOrientedBBox::CreateFromPoints(), GetBoxPoints(), ecvOrientedBBox::Scale(), and volume().

◆ R_

Eigen::Matrix3d cloudViewer::OrientedBoundingBox::R_

The rotation matrix of the bounding box to transform the original frame of reference to the frame of this box.

Definition at line 113 of file OrientedBoundingBox.h.

Referenced by Clear(), CreateFromAxisAlignedBoundingBox(), ecvOrientedBBox::CreateFromAxisAlignedBoundingBox(), ecvOrientedBBox::CreateFromPoints(), GetBoxPoints(), GetPointIndicesWithinBoundingBox(), and ecvOrientedBBox::Rotate().

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

/root/ACloudViewer/core/include/OrientedBoundingBox.h
/root/ACloudViewer/core/src/OrientedBoundingBox.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OrientedBoundingBox() [1/2]

◆ OrientedBoundingBox() [2/2]

◆ ~OrientedBoundingBox()

Member Function Documentation

◆ Clear()

◆ CreateFromAxisAlignedBoundingBox()

◆ GetBoxPoints()

◆ getCenter()

◆ GetColor()

◆ GetExtent()

◆ GetHalfExtent()

◆ GetMaxExtent()

◆ GetPointIndicesWithinBoundingBox() [1/2]

◆ GetPointIndicesWithinBoundingBox() [2/2]

◆ GetPosition()

◆ GetRotation()

◆ SetColor()

◆ volume()

Member Data Documentation

◆ center_

◆ color_

◆ extent_

◆ R_