280 lines
11 KiB
C
280 lines
11 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include <Eigen/Core>
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#include "open3d/geometry/Geometry3D.h"
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namespace open3d {
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namespace geometry {
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class AxisAlignedBoundingBox;
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/// \class OrientedBoundingBox
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///
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/// \brief A bounding box oriented along an arbitrary frame of reference.
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///
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/// The oriented bounding box is defined by its center position, rotation
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/// matrix and extent.
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class OrientedBoundingBox : public Geometry3D {
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public:
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/// \brief Default constructor.
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///
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/// Creates an empty Oriented Bounding Box.
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OrientedBoundingBox()
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: Geometry3D(Geometry::GeometryType::OrientedBoundingBox),
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center_(0, 0, 0),
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R_(Eigen::Matrix3d::Identity()),
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extent_(0, 0, 0),
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color_(1, 1, 1) {}
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/// \brief Parameterized constructor.
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///
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/// \param center Specifies the center position of the bounding box.
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/// \param R The rotation matrix specifying the orientation of the
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/// bounding box with the original frame of reference.
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/// \param extent The extent of the bounding box.
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OrientedBoundingBox(const Eigen::Vector3d& center,
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const Eigen::Matrix3d& R,
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const Eigen::Vector3d& extent)
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: Geometry3D(Geometry::GeometryType::OrientedBoundingBox),
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center_(center),
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R_(R),
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extent_(extent) {}
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~OrientedBoundingBox() override {}
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public:
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OrientedBoundingBox& Clear() override;
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bool IsEmpty() const override;
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virtual Eigen::Vector3d GetMinBound() const override;
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virtual Eigen::Vector3d GetMaxBound() const override;
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virtual Eigen::Vector3d GetCenter() const override;
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/// Creates an axis-aligned bounding box around the
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/// points (corners) of the object.
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virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
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/// Returns the object itself
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virtual OrientedBoundingBox GetOrientedBoundingBox(
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bool robust) const override;
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/// Returns the object itself
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virtual OrientedBoundingBox GetMinimalOrientedBoundingBox(
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bool robust) const override;
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virtual OrientedBoundingBox& Transform(
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const Eigen::Matrix4d& transformation) override;
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virtual OrientedBoundingBox& Translate(const Eigen::Vector3d& translation,
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bool relative = true) override;
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virtual OrientedBoundingBox& Scale(const double scale,
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const Eigen::Vector3d& center) override;
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virtual OrientedBoundingBox& Rotate(const Eigen::Matrix3d& R,
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const Eigen::Vector3d& center) override;
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/// Returns the volume of the bounding box.
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double Volume() const;
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/// Returns the eight points that define the bounding box.
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/// \verbatim
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/// ------- x
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/// /|
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/// / |
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/// / | z
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/// y
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/// 0 ------------------- 1
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/// /| /|
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/// / | / |
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/// / | / |
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/// / | / |
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/// 2 ------------------- 7 |
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/// | |____________|____| 6
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/// | /3 | /
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/// | / | /
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/// | / | /
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/// |/ |/
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/// 5 ------------------- 4
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/// \endverbatim
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std::vector<Eigen::Vector3d> GetBoxPoints() const;
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/// Return indices to points that are within the bounding box.
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std::vector<size_t> GetPointIndicesWithinBoundingBox(
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const std::vector<Eigen::Vector3d>& points) const;
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/// Returns an oriented bounding box from the AxisAlignedBoundingBox.
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///
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/// \param aabox AxisAlignedBoundingBox object from which
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/// OrientedBoundingBox is created.
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static OrientedBoundingBox CreateFromAxisAlignedBoundingBox(
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const AxisAlignedBoundingBox& aabox);
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/// Creates an oriented bounding box using a PCA.
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/// Note, that this is only an approximation to the minimum oriented
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/// bounding box that could be computed for example with O'Rourke's
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/// algorithm (cf. http://cs.smith.edu/~jorourke/Papers/MinVolBox.pdf,
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/// https://www.geometrictools.com/Documentation/MinimumVolumeBox.pdf)
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/// \param points The input points
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/// \param robust If set to true uses a more robust method which works
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/// in degenerate cases but introduces noise to the points
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/// coordinates.
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static OrientedBoundingBox CreateFromPoints(
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const std::vector<Eigen::Vector3d>& points, bool robust = false);
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/// Creates the oriented bounding box with the smallest volume.
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/// The algorithm makes use of the fact that at least one edge of
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/// the convex hull must be collinear with an edge of the minimum
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/// bounding box: for each triangle in the convex hull, calculate
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/// the minimal axis aligned box in the frame of that triangle.
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/// at the end, return the box with the smallest volume
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/// \param points The input points
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/// \param robust If set to true uses a more robust method which works
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/// in degenerate cases but introduces noise to the points
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/// coordinates.
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static OrientedBoundingBox CreateFromPointsMinimal(
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const std::vector<Eigen::Vector3d>& points, bool robust = false);
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public:
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/// The center point of the bounding box.
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Eigen::Vector3d center_;
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/// The rotation matrix of the bounding box to transform the original frame
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/// of reference to the frame of this box.
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Eigen::Matrix3d R_;
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/// The extent of the bounding box in its frame of reference.
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Eigen::Vector3d extent_;
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/// The color of the bounding box in RGB.
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Eigen::Vector3d color_;
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};
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/// \class AxisAlignedBoundingBox
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///
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/// \brief A bounding box that is aligned along the coordinate axes and defined
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/// by the min_bound and max_bound.
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///
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/// The AxisAlignedBoundingBox uses the coordinate axes for bounding box
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/// generation. This means that the bounding box is oriented along the
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/// coordinate axes.
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class AxisAlignedBoundingBox : public Geometry3D {
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public:
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/// \brief Default constructor.
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///
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/// Creates an empty Axis Aligned Bounding Box.
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AxisAlignedBoundingBox()
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: Geometry3D(Geometry::GeometryType::AxisAlignedBoundingBox),
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min_bound_(0, 0, 0),
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max_bound_(0, 0, 0),
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color_(1, 1, 1) {}
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/// \brief Parameterized constructor.
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///
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/// \param min_bound Lower bounds of the bounding box for all axes.
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/// \param max_bound Upper bounds of the bounding box for all axes.
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AxisAlignedBoundingBox(const Eigen::Vector3d& min_bound,
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const Eigen::Vector3d& max_bound);
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~AxisAlignedBoundingBox() override {}
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public:
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AxisAlignedBoundingBox& Clear() override;
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bool IsEmpty() const override;
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virtual Eigen::Vector3d GetMinBound() const override;
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virtual Eigen::Vector3d GetMaxBound() const override;
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virtual Eigen::Vector3d GetCenter() const override;
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/// Returns the object itself
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virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
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/// Returns an oriented bounding box with the same dimensions
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/// and orientation as the object
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virtual OrientedBoundingBox GetOrientedBoundingBox(
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bool robust = false) const override;
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/// Returns an oriented bounding box with the same dimensions
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/// and orientation as the object
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virtual OrientedBoundingBox GetMinimalOrientedBoundingBox(
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bool robust = false) const override;
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virtual AxisAlignedBoundingBox& Transform(
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const Eigen::Matrix4d& transformation) override;
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virtual AxisAlignedBoundingBox& Translate(
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const Eigen::Vector3d& translation, bool relative = true) override;
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/// \brief Scales the axis-aligned bounding boxes.
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/// If \f$mi\f$ is the min_bound and \f$ma\f$ is the max_bound of
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/// the axis aligned bounding box, and \f$s\f$ and \f$c\f$ are the
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/// provided scaling factor and center respectively, then the new
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/// min_bound and max_bound are given by \f$mi = c + s (mi - c)\f$
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/// and \f$ma = c + s (ma - c)\f$.
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///
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/// \param scale The scale parameter.
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/// \param center Center used for the scaling operation.
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virtual AxisAlignedBoundingBox& Scale(
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const double scale, const Eigen::Vector3d& center) override;
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/// \brief an AxisAlignedBoundingBox can not be rotated. This method
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/// will throw an error.
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virtual AxisAlignedBoundingBox& Rotate(
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const Eigen::Matrix3d& R, const Eigen::Vector3d& center) override;
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AxisAlignedBoundingBox& operator+=(const AxisAlignedBoundingBox& other);
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/// Get the extent/length of the bounding box in x, y, and z dimension.
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Eigen::Vector3d GetExtent() const { return (max_bound_ - min_bound_); }
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/// Returns the half extent of the bounding box.
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Eigen::Vector3d GetHalfExtent() const { return GetExtent() * 0.5; }
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/// Returns the maximum extent, i.e. the maximum of X, Y and Z axis'
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/// extents.
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double GetMaxExtent() const { return (max_bound_ - min_bound_).maxCoeff(); }
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/// Calculates the percentage position of the given x-coordinate within
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/// the x-axis range of this AxisAlignedBoundingBox.
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double GetXPercentage(double x) const {
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return (x - min_bound_(0)) / (max_bound_(0) - min_bound_(0));
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}
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/// Calculates the percentage position of the given y-coordinate within
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/// the y-axis range of this AxisAlignedBoundingBox.
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double GetYPercentage(double y) const {
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return (y - min_bound_(1)) / (max_bound_(1) - min_bound_(1));
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}
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/// Calculates the percentage position of the given z-coordinate within
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/// the z-axis range of this AxisAlignedBoundingBox.
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double GetZPercentage(double z) const {
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return (z - min_bound_(2)) / (max_bound_(2) - min_bound_(2));
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}
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/// Returns the volume of the bounding box.
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double Volume() const;
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/// Returns the eight points that define the bounding box.
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std::vector<Eigen::Vector3d> GetBoxPoints() const;
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/// Return indices to points that are within the bounding box.
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///
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/// \param points A list of points.
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std::vector<size_t> GetPointIndicesWithinBoundingBox(
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const std::vector<Eigen::Vector3d>& points) const;
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/// Returns the 3D dimensions of the bounding box in string format.
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std::string GetPrintInfo() const;
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/// Creates the bounding box that encloses the set of points.
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///
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/// \param points A list of points.
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static AxisAlignedBoundingBox CreateFromPoints(
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const std::vector<Eigen::Vector3d>& points);
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public:
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/// The lower x, y, z bounds of the bounding box.
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Eigen::Vector3d min_bound_;
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/// The upper x, y, z bounds of the bounding box.
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Eigen::Vector3d max_bound_;
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/// The color of the bounding box in RGB.
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Eigen::Vector3d color_;
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};
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} // namespace geometry
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} // namespace open3d
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