Open3D (C++ API)  0.18.0
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Line3D.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <Eigen/Core>
11#include <Eigen/Geometry>
12#include <limits>
13
17
18#pragma once
19
20namespace open3d {
21namespace geometry {
22
49class Line3D : protected Eigen::ParametrizedLine<double, 3> {
50public:
54 static Line3D Through(const Eigen::Vector3d& p0,
55 const Eigen::Vector3d& p1) {
56 return {p0, (p1 - p0).normalized()};
57 }
58
62 enum class LineType {
64 Line = 0,
65
68 Ray = 1,
69
72 Segment = 2,
73 };
74
76 Line3D(const Eigen::Vector3d& origin, const Eigen::Vector3d& direction);
77
78 virtual ~Line3D() = default;
79
81 LineType GetLineType() const { return line_type_; }
82
84 const Eigen::Vector3d& Origin() const { return m_origin; }
85
87 const Eigen::Vector3d& Direction() const { return m_direction; }
88
91 virtual double Length() const {
92 return std::numeric_limits<double>::infinity();
93 }
94
96 virtual void Transform(const Eigen::Transform<double, 3, Eigen::Affine>& t);
97
100 const Eigen::ParametrizedLine<double, 3>& Line() const { return *this; }
101
107 const Eigen::Hyperplane<double, 3>& plane) const;
108
119 double ProjectionParameter(const Eigen::Vector3d& point) const;
120
130 virtual Eigen::Vector3d Projection(const Eigen::Vector3d& point) const;
131
154 const AxisAlignedBoundingBox& box) const;
155
179 const AxisAlignedBoundingBox& box) const;
180
184 std::pair<double, double> ClosestParameters(const Line3D& other) const;
185
189 std::pair<Eigen::Vector3d, Eigen::Vector3d> ClosestPoints(
190 const Line3D& other) const;
191
195 double DistanceTo(const Line3D& other) const;
196
202 virtual double ClampParameter(double parameter) const { return parameter; }
203
208 virtual bool IsParameterValid(double parameter) const { return true; }
209
210protected:
213 Line3D(const Eigen::Vector3d& origin,
214 const Eigen::Vector3d& direction,
215 LineType type);
216
222 std::pair<double, double> SlabAABBBase(
223 const AxisAlignedBoundingBox& box) const;
224
225private:
226 const LineType line_type_ = LineType::Line;
227
228 // Pre-calculated inverse values for the line's direction used to
229 // accelerate the slab method
230 double x_inv_;
231 double y_inv_;
232 double z_inv_;
233};
234
240class Ray3D : public Line3D {
241public:
244 static Ray3D Through(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1) {
245 return {p0, (p1 - p0).normalized()};
246 }
247
249 Ray3D(const Eigen::Vector3d& origin, const Eigen::Vector3d& direction);
250
253 double Length() const override {
254 return std::numeric_limits<double>::infinity();
255 }
256
263 const Eigen::Hyperplane<double, 3>& plane) const override;
264
286 const AxisAlignedBoundingBox& box) const override;
287
293 double ClampParameter(double parameter) const override {
294 return std::max(parameter, 0.);
295 }
296
301 bool IsParameterValid(double parameter) const override {
302 return parameter >= 0;
303 }
304};
305
320class Segment3D : public Line3D {
321public:
325 static Segment3D Through(const Eigen::Vector3d& p0,
326 const Eigen::Vector3d& p1) {
327 return {p0, p1};
328 }
329
332 Segment3D(const Eigen::Vector3d& start_point,
333 const Eigen::Vector3d& end_point);
334
337 explicit Segment3D(const std::pair<Eigen::Vector3d, Eigen::Vector3d>& pair);
338
341 double Length() const override { return length_; }
342
344 Eigen::Vector3d MidPoint() const { return 0.5 * (origin() + end_point_); }
345
347 const Eigen::Vector3d& EndPoint() const { return end_point_; }
348
350 void Transform(
351 const Eigen::Transform<double, 3, Eigen::Affine>& t) override;
352
356
362 const Eigen::Hyperplane<double, 3>& plane) const override;
363
387 const AxisAlignedBoundingBox& box) const override;
388
409 const AxisAlignedBoundingBox& box) const override;
410
416 double ClampParameter(double parameter) const override {
417 return std::max(std::min(parameter, length_), 0.);
418 }
419
424 bool IsParameterValid(double parameter) const override {
425 return parameter >= 0 && parameter <= length_;
426 }
427
428private:
429 Eigen::Vector3d end_point_;
430 double length_;
431};
432
433} // namespace geometry
434} // namespace open3d
A bounding box that is aligned along the coordinate axes and defined by the min_bound and max_bound.
Definition BoundingVolume.h:160
Line3D is a class which derives from Eigen::ParametrizedLine<double, 3> in order to capture the seman...
Definition Line3D.h:49
virtual ~Line3D()=default
virtual void Transform(const Eigen::Transform< double, 3, Eigen::Affine > &t)
Transform the Line3D by the given matrix.
Definition Line3D.cpp:36
virtual double ClampParameter(double parameter) const
Clamps/bounds a parameter value to the closest valid place where the entity exists....
Definition Line3D.h:202
LineType
Specifies different semantic interpretations of 3d lines.
Definition Line3D.h:62
@ Line
Lines extend infinitely in both directions.
std::pair< double, double > SlabAABBBase(const AxisAlignedBoundingBox &box) const
Calculates the common t_min and t_max values of the slab AABB intersection method....
Definition Line3D.cpp:40
virtual utility::optional< double > SlabAABB(const AxisAlignedBoundingBox &box) const
Returns the lower intersection parameter for a line with an axis aligned bounding box or empty if no ...
Definition Line3D.cpp:136
std::pair< Eigen::Vector3d, Eigen::Vector3d > ClosestPoints(const Line3D &other) const
Computes the two closest points between this Line3D object and the other, including of derived types ...
Definition Line3D.cpp:260
const Eigen::ParametrizedLine< double, 3 > & Line() const
Returns a const reference to the underlying Eigen::ParametrizedLine object.
Definition Line3D.h:100
double ProjectionParameter(const Eigen::Vector3d &point) const
Calculates the parameter of a point projected onto the line taking into account special semantics.
Definition Line3D.cpp:167
const Eigen::Vector3d & Origin() const
Gets the line's origin point.
Definition Line3D.h:84
std::pair< double, double > ClosestParameters(const Line3D &other) const
Computes the two corresponding parameters of the closest distance between two Line3D objects,...
Definition Line3D.cpp:171
LineType GetLineType() const
Gets the semantic type of the line.
Definition Line3D.h:81
virtual double Length() const
Gets the length of the line, which for lines and rays will return positive infinity,...
Definition Line3D.h:91
virtual Eigen::Vector3d Projection(const Eigen::Vector3d &point) const
Calculates a point projected onto the line, taking into account special semantics.
Definition Line3D.cpp:163
virtual utility::optional< double > ExactAABB(const AxisAlignedBoundingBox &box) const
Returns the lower intersection parameter for a line with an axis aligned bounding box or empty if no ...
Definition Line3D.cpp:72
virtual bool IsParameterValid(double parameter) const
Verifies that a given parameter value is valid for the semantics of the line object....
Definition Line3D.h:208
double DistanceTo(const Line3D &other) const
Gets the closest distance between two Line3D objects, including derived types Ray3D and Segment3D,...
Definition Line3D.cpp:270
virtual utility::optional< double > IntersectionParameter(const Eigen::Hyperplane< double, 3 > &plane) const
Calculates the intersection parameter between the line and a plane taking into account line semantics...
Definition Line3D.cpp:153
static Line3D Through(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1)
Creates a line through two points. The line origin will take the value of p0, and the line direction ...
Definition Line3D.h:54
const Eigen::Vector3d & Direction() const
Gets the line's direction vector.
Definition Line3D.h:87
A ray is a semantic interpretation of Eigen::ParametrizedLine which has an origin and a direction and...
Definition Line3D.h:240
double Length() const override
Gets the length of the line, which for lines and rays will return positive infinity,...
Definition Line3D.h:253
double ClampParameter(double parameter) const override
Clamps/bounds a parameter value to the closest valid place where the entity exists....
Definition Line3D.h:293
utility::optional< double > SlabAABB(const AxisAlignedBoundingBox &box) const override
Returns the lower intersection parameter for a ray with an axis aligned bounding box or empty if no i...
Definition Line3D.cpp:284
static Ray3D Through(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1)
Creates a Ray3D through two points. The ray origin will take the value of p0, and the direction will ...
Definition Line3D.h:244
bool IsParameterValid(double parameter) const override
Verifies that a given parameter value is valid for the semantics of the line object....
Definition Line3D.h:301
utility::optional< double > IntersectionParameter(const Eigen::Hyperplane< double, 3 > &plane) const override
Calculates the intersection parameter between the line and a plane taking into account ray semantics....
Definition Line3D.cpp:305
A segment is a semantic interpretation of Eigen::ParametrizedLine which has an origin and an endpoint...
Definition Line3D.h:320
utility::optional< double > IntersectionParameter(const Eigen::Hyperplane< double, 3 > &plane) const override
Calculates the intersection parameter between the line and a plane taking into account segment semant...
Definition Line3D.cpp:379
static Segment3D Through(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1)
Creates a Segment3D through two points. The origin will take the value of p0, and the endpoint be p1....
Definition Line3D.h:325
double ClampParameter(double parameter) const override
Clamps/bounds a parameter value to the closest valid place where the entity exists....
Definition Line3D.h:416
utility::optional< double > SlabAABB(const AxisAlignedBoundingBox &box) const override
Returns the lower intersection parameter for a segment with an axis aligned bounding box or empty if ...
Definition Line3D.cpp:335
void Transform(const Eigen::Transform< double, 3, Eigen::Affine > &t) override
Transform the segment by the given matrix.
Definition Line3D.cpp:330
utility::optional< double > ExactAABB(const AxisAlignedBoundingBox &box) const override
Returns the lower intersection parameter for a segment with an axis aligned bounding box or empty if ...
Definition Line3D.cpp:358
Eigen::Vector3d MidPoint() const
Calculates the midpoint of the segment.
Definition Line3D.h:344
const Eigen::Vector3d & EndPoint() const
Get the end point of the segment.
Definition Line3D.h:347
double Length() const override
Get the scalar length of the segment as the distance between the start point (origin) and the end poi...
Definition Line3D.h:341
bool IsParameterValid(double parameter) const override
Verifies that a given parameter value is valid for the semantics of the line object....
Definition Line3D.h:424
AxisAlignedBoundingBox GetBoundingBox() const
Get an axis-aligned bounding box representing the enclosed volume of the line segment.
Definition Line3D.cpp:368
Definition Optional.h:259
char type
Definition FilePCD.cpp:41
Definition PinholeCameraIntrinsic.cpp:16