A utility class to store picked points of a pointcloud. More...

#include <PointCloudPicker.h>

Inheritance diagram for open3d::visualization::PointCloudPicker:

Public Member Functions
	PointCloudPicker ()

	~PointCloudPicker () override

PointCloudPicker &	Clear () override
	Clear all elements in the geometry. More...

bool	IsEmpty () const override
	Returns `true` iff the geometry is empty. More...

Eigen::Vector3d	GetMinBound () const final
	Returns min bounds for geometry coordinates. More...

Eigen::Vector3d	GetMaxBound () const final
	Returns max bounds for geometry coordinates. More...

Eigen::Vector3d	GetCenter () const final
	Returns the center of the geometry coordinates. More...

geometry::AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const final

geometry::OrientedBoundingBox	GetOrientedBoundingBox (bool robust=false) const final

geometry::OrientedBoundingBox	GetMinimalOrientedBoundingBox (bool robust=false) const final

PointCloudPicker &	Transform (const Eigen::Matrix4d &transformation) override
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

PointCloudPicker &	Translate (const Eigen::Vector3d &translation, bool relative=true) override
	Apply translation to the geometry coordinates. More...

PointCloudPicker &	Scale (const double scale, const Eigen::Vector3d &center) 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...

PointCloudPicker &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center) 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...

bool	SetPointCloud (std::shared_ptr< const geometry::Geometry > ptr)

Public Member Functions inherited from open3d::geometry::Geometry3D
	~Geometry3D () override

Geometry3D &	Clear () override=0
	Clear all elements in the geometry. More...

bool	IsEmpty () const override=0
	Returns `true` iff the geometry is empty. More...

virtual Eigen::Vector3d	GetMinBound () const =0
	Returns min bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetMaxBound () const =0
	Returns max bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetCenter () const =0
	Returns the center of the geometry coordinates. More...

virtual AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const =0

virtual OrientedBoundingBox	GetOrientedBoundingBox (bool robust=false) const =0

virtual OrientedBoundingBox	GetMinimalOrientedBoundingBox (bool robust=false) const =0

virtual Geometry3D &	Transform (const Eigen::Matrix4d &transformation)=0
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

virtual Geometry3D &	Translate (const Eigen::Vector3d &translation, bool relative=true)=0
	Apply translation to the geometry coordinates. More...

virtual Geometry3D &	Scale (const double scale, const Eigen::Vector3d &center)=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...

virtual Geometry3D &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center)=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...

virtual Geometry3D &	Rotate (const Eigen::Matrix3d &R)

Public Member Functions inherited from open3d::geometry::Geometry
virtual	~Geometry ()

virtual Geometry &	Clear ()=0
	Clear all elements in the geometry. More...

virtual bool	IsEmpty () const =0
	Returns `true` iff the geometry is empty. More...

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)

Data Fields
std::shared_ptr< const geometry::Geometry >	pointcloud_ptr_

std::vector< size_t >	picked_indices_

Additional Inherited Members
Public Types inherited from open3d::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...

Static Public Member Functions inherited from open3d::geometry::Geometry3D
static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

Protected Member Functions inherited from open3d::geometry::Geometry3D
	Geometry3D (GeometryType type)
	Parameterized Constructor. More...

Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const
	Compute min bound of a list points. More...

Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const
	Compute max bound of a list points. More...

Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points) const
	Computer center of a list of points. More...

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...

void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const
	Transforms all points with the transformation matrix. More...

void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const
	Transforms the normals with the transformation matrix. More...

void	TransformCovariances (const Eigen::Matrix4d &transformation, std::vector< Eigen::Matrix3d > &covariances) const
	Transforms all covariance matrices with the transformation. More...

void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const
	Apply translation to the geometry coordinates. More...

void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center) const
	Scale the coordinates of all points by the scaling factor `scale`. More...

void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center) const
	Rotate all points with the rotation matrix `R`. More...

void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals) const
	Rotate all normals with the rotation matrix `R`. More...

void	RotateCovariances (const Eigen::Matrix3d &R, std::vector< Eigen::Matrix3d > &covariances) const
	Rotate all covariance matrices with the rotation matrix `R`. More...

Protected Member Functions inherited from open3d::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

A utility class to store picked points of a pointcloud.

Constructor & Destructor Documentation

◆ PointCloudPicker()

open3d::visualization::PointCloudPicker::PointCloudPicker ( )

inline

◆ ~PointCloudPicker()

open3d::visualization::PointCloudPicker::~PointCloudPicker ( )

inlineoverride

Member Function Documentation

◆ Clear()

PointCloudPicker & open3d::visualization::PointCloudPicker::Clear ( )

overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry3D.

◆ GetAxisAlignedBoundingBox()

geometry::AxisAlignedBoundingBox open3d::visualization::PointCloudPicker::GetAxisAlignedBoundingBox ( ) const

finalvirtual

If point cloud does not exist, creates an axis-aligned bounding box form its default constructor. If point cloud exists, creates the axis-aligned bounding box around it. Further details in AxisAlignedBoundingBox::CreateFromPoints()

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

Eigen::Vector3d open3d::visualization::PointCloudPicker::GetCenter ( ) const

finalvirtual

Returns the center of the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMaxBound()

Eigen::Vector3d open3d::visualization::PointCloudPicker::GetMaxBound ( ) const

finalvirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

Eigen::Vector3d open3d::visualization::PointCloudPicker::GetMinBound ( ) const

finalvirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinimalOrientedBoundingBox()

geometry::OrientedBoundingBox open3d::visualization::PointCloudPicker::GetMinimalOrientedBoundingBox ( bool robust = false ) const

finalvirtual

If point cloud does not exist, creates an oriented bounding box form its default constructor. If point cloud exists, creates the minimal oriented bounding box around it. Further details in OrientedBoundingBox::CreateFromPointsMinimal()

Parameters

robust If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

geometry::OrientedBoundingBox open3d::visualization::PointCloudPicker::GetOrientedBoundingBox ( bool robust = false ) const

finalvirtual

If point cloud does not exist, creates an oriented bounding box form its default constructor. If point cloud exists, creates the oriented bounding box around it. Further details in OrientedBoundingBox::CreateFromPoints()

Parameters

robust If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.

Implements open3d::geometry::Geometry3D.

◆ IsEmpty()

bool open3d::visualization::PointCloudPicker::IsEmpty ( ) const

overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry3D.

◆ Rotate()

PointCloudPicker & open3d::visualization::PointCloudPicker::Rotate	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply rotation to the geometry coordinates and normals. Given a rotation matrix \(R\), and center \(c\), a given point \(p\) is transformed according to \(R (p - c) + c\).

Parameters

R	A 3x3 rotation matrix
center	Rotation center that is used for the rotation.

Implements open3d::geometry::Geometry3D.

◆ Scale()

PointCloudPicker & open3d::visualization::PointCloudPicker::Scale	(	const double	scale,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply scaling to the geometry coordinates. Given a scaling factor \(s\), and center \(c\), a given point \(p\) is transformed according to \(s (p - c) + c\).

Parameters

scale	The scale parameter that is multiplied to the points/vertices of the geometry.
center	Scale center that is used to resize the geometry.

Implements open3d::geometry::Geometry3D.

◆ SetPointCloud()

bool open3d::visualization::PointCloudPicker::SetPointCloud ( std::shared_ptr< const geometry::Geometry > ptr )

◆ Transform()

PointCloudPicker & open3d::visualization::PointCloudPicker::Transform ( const Eigen::Matrix4d & transformation )

overridevirtual

Apply transformation (4x4 matrix) to the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ Translate()

PointCloudPicker & open3d::visualization::PointCloudPicker::Translate	(	const Eigen::Vector3d &	translation,
		bool	relative = `true`
	)

overridevirtual

Apply translation to the geometry coordinates.

Parameters

translation	A 3D vector to transform the geometry.
relative	If `true`, the `translation` is directly applied to the geometry. Otherwise, the geometry center is moved to the `translation`.

Implements open3d::geometry::Geometry3D.

Field Documentation

◆ picked_indices_

std::vector<size_t> open3d::visualization::PointCloudPicker::picked_indices_

◆ pointcloud_ptr_

std::shared_ptr<const geometry::Geometry> open3d::visualization::PointCloudPicker::pointcloud_ptr_

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

cpp/open3d/visualization/utility/PointCloudPicker.h
cpp/open3d/visualization/utility/PointCloudPicker.cpp

Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PointCloudPicker()

◆ ~PointCloudPicker()

Member Function Documentation

◆ Clear()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetMinimalOrientedBoundingBox()

◆ GetOrientedBoundingBox()

◆ IsEmpty()

◆ Rotate()

◆ Scale()

◆ SetPointCloud()

◆ Transform()

◆ Translate()

Field Documentation

◆ picked_indices_

◆ pointcloud_ptr_