Open3D (C++ API)  0.16.1
IntersectionTest.h
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26
27#pragma once
28
29#include <Eigen/Dense>
30
31#include "BoundingVolume.h"
32#include "Line3D.h"
33
34namespace open3d {
35namespace geometry {
36
38public:
39 static bool AABBAABB(const Eigen::Vector3d& min0,
40 const Eigen::Vector3d& max0,
41 const Eigen::Vector3d& min1,
42 const Eigen::Vector3d& max1);
43
44 static bool TriangleTriangle3d(const Eigen::Vector3d& p0,
45 const Eigen::Vector3d& p1,
46 const Eigen::Vector3d& p2,
47 const Eigen::Vector3d& q0,
48 const Eigen::Vector3d& q1,
49 const Eigen::Vector3d& q2);
50
51 static bool TriangleAABB(const Eigen::Vector3d& box_center,
52 const Eigen::Vector3d& box_half_size,
53 const Eigen::Vector3d& vert0,
54 const Eigen::Vector3d& vert1,
55 const Eigen::Vector3d& vert2);
56
58 static bool PointsCoplanar(const Eigen::Vector3d& p0,
59 const Eigen::Vector3d& p1,
60 const Eigen::Vector3d& p2,
61 const Eigen::Vector3d& p3);
62
69 static double LinesMinimumDistance(const Eigen::Vector3d& p0,
70 const Eigen::Vector3d& p1,
71 const Eigen::Vector3d& q0,
72 const Eigen::Vector3d& q1);
73
79 static double LineSegmentsMinimumDistance(const Eigen::Vector3d& p0,
80 const Eigen::Vector3d& p1,
81 const Eigen::Vector3d& q0,
82 const Eigen::Vector3d& q1);
83
138 const Line3D& line, const AxisAlignedBoundingBox& box) {
139 return line.ExactAABB(box);
140 }
141
194 const Line3D& line, const AxisAlignedBoundingBox& box) {
195 return line.SlabAABB(box);
196 }
197};
198
199} // namespace geometry
200} // namespace open3d
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:155
Definition: IntersectionTest.h:37
static bool PointsCoplanar(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, const Eigen::Vector3d &p3)
Tests if the given four points all lie on the same plane.
Definition: IntersectionTest.cpp:90
static bool AABBAABB(const Eigen::Vector3d &min0, const Eigen::Vector3d &max0, const Eigen::Vector3d &min1, const Eigen::Vector3d &max1)
Definition: IntersectionTest.cpp:37
static bool TriangleAABB(const Eigen::Vector3d &box_center, const Eigen::Vector3d &box_half_size, const Eigen::Vector3d &vert0, const Eigen::Vector3d &vert1, const Eigen::Vector3d &vert2)
Definition: IntersectionTest.cpp:77
static bool TriangleTriangle3d(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, const Eigen::Vector3d &q0, const Eigen::Vector3d &q1, const Eigen::Vector3d &q2)
Definition: IntersectionTest.cpp:53
static double LinesMinimumDistance(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &q0, const Eigen::Vector3d &q1)
Definition: IntersectionTest.cpp:97
static double LineSegmentsMinimumDistance(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &q0, const Eigen::Vector3d &q1)
Definition: IntersectionTest.cpp:138
static utility::optional< double > LineSlabAABB(const Line3D &line, const AxisAlignedBoundingBox &box)
Returns the lower intersection parameter for a line with an axis aligned bounding box or no value if ...
Definition: IntersectionTest.h:193
static utility::optional< double > LineExactAABB(const Line3D &line, const AxisAlignedBoundingBox &box)
Returns the lower intersection parameter for a line with an axis aligned bounding box or empty if no ...
Definition: IntersectionTest.h:137
Line3D is a class which derives from Eigen::ParametrizedLine<double, 3> in order to capture the seman...
Definition: Line3D.h:68
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:155
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:91
Definition: Optional.h:278
Definition: PinholeCameraIntrinsic.cpp:35