214 lines
9.5 KiB
C
214 lines
9.5 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 <Eigen/Geometry>
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#include <vector>
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#include "open3d/geometry/Geometry.h"
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#include "open3d/utility/Eigen.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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/// \class Geometry3D
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///
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/// \brief The base geometry class for 3D geometries.
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///
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/// Main class for 3D geometries, Derives all data from Geometry Base class.
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class Geometry3D : public Geometry {
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public:
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~Geometry3D() override {}
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protected:
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/// \brief Parameterized Constructor.
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///
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/// \param type type of object based on GeometryType.
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Geometry3D(GeometryType type) : Geometry(type, 3) {}
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public:
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Geometry3D& Clear() override = 0;
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bool IsEmpty() const override = 0;
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/// Returns min bounds for geometry coordinates.
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virtual Eigen::Vector3d GetMinBound() const = 0;
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/// Returns max bounds for geometry coordinates.
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virtual Eigen::Vector3d GetMaxBound() const = 0;
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/// Returns the center of the geometry coordinates.
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virtual Eigen::Vector3d GetCenter() const = 0;
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/// Creates the axis-aligned bounding box around the points of the object.
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/// Further details in AxisAlignedBoundingBox::CreateFromPoints()
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virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const = 0;
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/// Creates an oriented bounding box around the points of the object.
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/// Further details in OrientedBoundingBox::CreateFromPoints()
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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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virtual OrientedBoundingBox GetOrientedBoundingBox(
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bool robust = false) const = 0;
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/// Creates the minimal oriented bounding box around the points of the
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/// object. Further details in
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/// OrientedBoundingBox::CreateFromPointsMinimal()
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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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virtual OrientedBoundingBox GetMinimalOrientedBoundingBox(
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bool robust = false) const = 0;
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/// \brief Apply transformation (4x4 matrix) to the geometry coordinates.
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virtual Geometry3D& Transform(const Eigen::Matrix4d& transformation) = 0;
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/// \brief Apply translation to the geometry coordinates.
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///
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/// \param translation A 3D vector to transform the geometry.
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/// \param relative If `true`, the \p translation is directly applied to the
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/// geometry. Otherwise, the geometry center is moved to the \p translation.
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virtual Geometry3D& Translate(const Eigen::Vector3d& translation,
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bool relative = true) = 0;
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/// \brief Apply scaling to the geometry coordinates.
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/// Given a scaling factor \f$s\f$, and center \f$c\f$, a given point
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/// \f$p\f$ is transformed according to \f$s (p - c) + c\f$.
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///
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/// \param scale The scale parameter that is multiplied to the
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/// points/vertices of the geometry.
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/// \param center Scale center that is used to resize the geometry.
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virtual Geometry3D& Scale(const double scale,
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const Eigen::Vector3d& center) = 0;
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/// \brief Apply rotation to the geometry coordinates and normals.
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/// Given a rotation matrix \f$R\f$, and center \f$c\f$, a given point
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/// \f$p\f$ is transformed according to \f$R (p - c) + c\f$.
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///
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/// \param R A 3x3 rotation matrix
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/// \param center Rotation center that is used for the rotation.
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virtual Geometry3D& Rotate(const Eigen::Matrix3d& R,
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const Eigen::Vector3d& center) = 0;
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virtual Geometry3D& Rotate(const Eigen::Matrix3d& R);
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/// Get Rotation Matrix from XYZ RotationType.
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static Eigen::Matrix3d GetRotationMatrixFromXYZ(
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const Eigen::Vector3d& rotation);
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/// Get Rotation Matrix from YZX RotationType.
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static Eigen::Matrix3d GetRotationMatrixFromYZX(
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const Eigen::Vector3d& rotation);
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/// Get Rotation Matrix from ZXY RotationType.
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static Eigen::Matrix3d GetRotationMatrixFromZXY(
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const Eigen::Vector3d& rotation);
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/// Get Rotation Matrix from XZY RotationType.
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static Eigen::Matrix3d GetRotationMatrixFromXZY(
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const Eigen::Vector3d& rotation);
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/// Get Rotation Matrix from ZYX RotationType.
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static Eigen::Matrix3d GetRotationMatrixFromZYX(
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const Eigen::Vector3d& rotation);
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/// Get Rotation Matrix from YXZ RotationType.
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static Eigen::Matrix3d GetRotationMatrixFromYXZ(
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const Eigen::Vector3d& rotation);
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/// Get Rotation Matrix from AxisAngle RotationType.
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static Eigen::Matrix3d GetRotationMatrixFromAxisAngle(
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const Eigen::Vector3d& rotation);
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/// Get Rotation Matrix from Quaternion.
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static Eigen::Matrix3d GetRotationMatrixFromQuaternion(
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const Eigen::Vector4d& rotation);
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protected:
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/// Compute min bound of a list points.
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Eigen::Vector3d ComputeMinBound(
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const std::vector<Eigen::Vector3d>& points) const;
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/// Compute max bound of a list points.
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Eigen::Vector3d ComputeMaxBound(
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const std::vector<Eigen::Vector3d>& points) const;
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/// Computer center of a list of points.
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Eigen::Vector3d ComputeCenter(
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const std::vector<Eigen::Vector3d>& points) const;
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/// \brief Resizes the colors vector and paints a uniform color.
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///
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/// \param colors An array of eigen vectors specifies colors in RGB.
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/// \param size The resultant size of the colors array.
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/// \param color The final color in which the colors will be painted.
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void ResizeAndPaintUniformColor(std::vector<Eigen::Vector3d>& colors,
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const size_t size,
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const Eigen::Vector3d& color) const;
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/// \brief Transforms all points with the transformation matrix.
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///
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/// \param transformation 4x4 matrix for transformation.
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/// \param points A list of points to be transformed.
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void TransformPoints(const Eigen::Matrix4d& transformation,
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std::vector<Eigen::Vector3d>& points) const;
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/// \brief Transforms the normals with the transformation matrix.
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///
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/// \param transformation 4x4 matrix for transformation.
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/// \param normals A list of normals to be transformed.
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void TransformNormals(const Eigen::Matrix4d& transformation,
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std::vector<Eigen::Vector3d>& normals) const;
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/// \brief Transforms all covariance matrices with the transformation.
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///
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/// \param transformation 4x4 matrix for transformation.
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/// \param covariances A list of covariance matrices to be transformed.
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void TransformCovariances(const Eigen::Matrix4d& transformation,
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std::vector<Eigen::Matrix3d>& covariances) const;
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/// \brief Apply translation to the geometry coordinates.
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///
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/// \param translation A 3D vector to transform the geometry.
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/// \param points A list of points to be transformed.
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/// \param relative If `true`, the \p translation is directly applied to the
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/// \p points. Otherwise, the center of the \p points is moved to the \p
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/// translation.
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void TranslatePoints(const Eigen::Vector3d& translation,
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std::vector<Eigen::Vector3d>& points,
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bool relative) const;
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/// \brief Scale the coordinates of all points by the scaling factor \p
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/// scale.
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///
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/// \param scale The scale factor that is used to resize the geometry
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/// \param points A list of points to be transformed
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/// \param center Scale center that is used to resize the geometry..
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void ScalePoints(const double scale,
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std::vector<Eigen::Vector3d>& points,
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const Eigen::Vector3d& center) const;
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/// \brief Rotate all points with the rotation matrix \p R.
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///
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/// \param R A 3x3 rotation matrix
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/// defines the axis of rotation and the norm the angle around this axis.
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/// \param points A list of points to be transformed.
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/// \param center Rotation center that is used for the rotation.
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void RotatePoints(const Eigen::Matrix3d& R,
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std::vector<Eigen::Vector3d>& points,
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const Eigen::Vector3d& center) const;
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/// \brief Rotate all normals with the rotation matrix \p R.
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///
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/// \param R A 3x3 rotation matrix
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/// \param normals A list of normals to be transformed.
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void RotateNormals(const Eigen::Matrix3d& R,
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std::vector<Eigen::Vector3d>& normals) const;
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/// \brief Rotate all covariance matrices with the rotation matrix \p R.
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///
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/// \param R A 3x3 rotation matrix
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/// \param covariances A list of covariance matrices to be transformed.
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void RotateCovariances(const Eigen::Matrix3d& R,
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std::vector<Eigen::Matrix3d>& covariances) const;
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};
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} // namespace geometry
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} // namespace open3d
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