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Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests (#6898)
* Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests * Update CHANGELOG
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‎CHANGELOG.md‎

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@@ -40,6 +40,7 @@
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- Fix build with fmt v10.2.0 (#6783)
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- Fix segmentation fault (lambda reference capture) of VisualizerWithCustomAnimation::Play (PR #6804)
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- Add O3DVisualizer API to enable collapse control of verts in the side panel (PR #6865)
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- Fix minimal oriented bounding box of MeshBase derived classes and add new unit tests (PR #6898)
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## 0.13
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‎cpp/open3d/geometry/MeshBase.cpp‎

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@@ -51,7 +51,7 @@ OrientedBoundingBox MeshBase::GetOrientedBoundingBox(bool robust) const {
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}
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OrientedBoundingBox MeshBase::GetMinimalOrientedBoundingBox(bool robust) const {
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return OrientedBoundingBox::CreateFromPoints(vertices_, robust);
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return OrientedBoundingBox::CreateFromPointsMinimal(vertices_, robust);
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}
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MeshBase &MeshBase::Transform(const Eigen::Matrix4d &transformation) {

‎cpp/tests/geometry/TetraMesh.cpp‎

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#include <Eigen/Geometry>
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#include "open3d/geometry/BoundingVolume.h"
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#include "open3d/geometry/PointCloud.h"
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#include "open3d/geometry/TriangleMesh.h"
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#include "tests/Tests.h"
@@ -119,6 +120,229 @@ TEST(TetraMesh, GetMaxBound) {
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tm.GetMaxBound());
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}
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TEST(TetraMesh, GetCenter) {
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int size = 100;
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Eigen::Vector3d dmin(0.0, 0.0, 0.0);
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Eigen::Vector3d dmax(1000.0, 1000.0, 1000.0);
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geometry::TetraMesh tm;
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tm.vertices_.resize(size);
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Rand(tm.vertices_, dmin, dmax, 0);
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ExpectEQ(tm.GetCenter(),
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Eigen::Vector3d(531.137254, 535.176470, 501.882352));
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geometry::TetraMesh tm_empty;
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ExpectEQ(tm_empty.GetCenter(), Eigen::Vector3d(0, 0, 0));
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}
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TEST(TetraMesh, GetAxisAlignedBoundingBox) {
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geometry::TetraMesh tm;
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geometry::AxisAlignedBoundingBox aabb;
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tm = geometry::TetraMesh();
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aabb = tm.GetAxisAlignedBoundingBox();
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EXPECT_EQ(aabb.min_bound_, Eigen::Vector3d(0, 0, 0));
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EXPECT_EQ(aabb.max_bound_, Eigen::Vector3d(0, 0, 0));
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EXPECT_EQ(aabb.color_, Eigen::Vector3d(1, 1, 1));
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tm = geometry::TetraMesh({{0, 0, 0}}, {{0, 0, 0, 0}});
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aabb = tm.GetAxisAlignedBoundingBox();
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EXPECT_EQ(aabb.min_bound_, Eigen::Vector3d(0, 0, 0));
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EXPECT_EQ(aabb.max_bound_, Eigen::Vector3d(0, 0, 0));
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EXPECT_EQ(aabb.color_, Eigen::Vector3d(1, 1, 1));
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tm = geometry::TetraMesh({{0, 2, 0},
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{1, 1, 2},
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{1, 0, 3},
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{0, 1, 4},
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{1, 2, 5},
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{1, 3, 6},
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{0, 0, 7},
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{0, 3, 8},
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{1, 0, 9},
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{0, 2, 10}},
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{{0, 1, 2, 3},
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{4, 0, 1, 2},
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{4, 5, 2, 3},
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{4, 0, 2, 3},
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{4, 0, 5, 3},
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{6, 0, 5, 3},
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{6, 7, 8, 5},
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{9, 4, 7, 1},
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{9, 4, 0, 1},
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{9, 0, 1, 3},
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{9, 6, 7, 8},
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{9, 4, 7, 5},
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{9, 6, 7, 5},
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{9, 4, 0, 5},
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{9, 6, 0, 5}});
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aabb = tm.GetAxisAlignedBoundingBox();
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EXPECT_EQ(aabb.min_bound_, Eigen::Vector3d(0, 0, 0));
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EXPECT_EQ(aabb.max_bound_, Eigen::Vector3d(1, 3, 10));
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EXPECT_EQ(aabb.color_, Eigen::Vector3d(1, 1, 1));
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}
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TEST(TetraMesh, GetOrientedBoundingBox) {
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geometry::TetraMesh tm;
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geometry::OrientedBoundingBox obb;
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// Empty (GetOrientedBoundingBox requires >=4 points)
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tm = geometry::TetraMesh();
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EXPECT_ANY_THROW(tm.GetOrientedBoundingBox());
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// Point
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tm = geometry::TetraMesh({{0, 0, 0}}, {{0, 0, 0, 0}});
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EXPECT_ANY_THROW(tm.GetOrientedBoundingBox());
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tm = geometry::TetraMesh({{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
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{{0, 1, 2, 3}});
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EXPECT_ANY_THROW(tm.GetOrientedBoundingBox());
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EXPECT_NO_THROW(tm.GetOrientedBoundingBox(true));
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// Plane
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tm = geometry::TetraMesh({{0, 0, 0}, {0, 0, 1}, {0, 1, 0}, {0, 1, 1}},
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{{0, 1, 2, 3}});
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EXPECT_ANY_THROW(tm.GetOrientedBoundingBox());
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EXPECT_NO_THROW(tm.GetOrientedBoundingBox(true));
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// Valid 4 points
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tm = geometry::TetraMesh({{0, 0, 0}, {0, 0, 1}, {0, 1, 0}, {1, 1, 1}},
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{{0, 1, 2, 3}});
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tm.GetOrientedBoundingBox();
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// 8 points with known ground truth
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tm = geometry::TetraMesh({{0, 0, 0},
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{0, 0, 1},
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{0, 2, 0},
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{0, 2, 1},
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{3, 0, 0},
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{3, 0, 1},
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{3, 2, 0},
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{3, 2, 1}},
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{{0, 1, 2, 3},
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{4, 5, 6, 7},
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{0, 1, 4, 5},
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{2, 3, 6, 7},
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{0, 2, 4, 6},
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{1, 3, 5, 7}});
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obb = tm.GetOrientedBoundingBox();
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EXPECT_EQ(obb.center_, Eigen::Vector3d(1.5, 1, 0.5));
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EXPECT_EQ(obb.extent_, Eigen::Vector3d(3, 2, 1));
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EXPECT_EQ(obb.color_, Eigen::Vector3d(1, 1, 1));
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EXPECT_EQ(obb.R_, Eigen::Matrix3d::Identity());
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ExpectEQ(Sort(obb.GetBoxPoints()),
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Sort(std::vector<Eigen::Vector3d>({{0, 0, 0},
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{0, 0, 1},
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{0, 2, 0},
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{0, 2, 1},
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{3, 0, 0},
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{3, 0, 1},
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{3, 2, 0},
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{3, 2, 1}})));
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// Check for a bug where the OBB rotation contained a reflection for this
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// example.
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tm = geometry::TetraMesh({{0, 2, 4}, {7, 9, 1}, {5, 2, 0}, {3, 8, 7}},
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{{0, 1, 2, 3}});
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obb = tm.GetOrientedBoundingBox();
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EXPECT_GT(obb.R_.determinant(), 0.999);
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}
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TEST(TetraMesh, GetMinimalOrientedBoundingBox) {
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geometry::TetraMesh tm;
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geometry::OrientedBoundingBox obb;
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// Empty (GetOrientedBoundingBox requires >=4 points)
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tm = geometry::TetraMesh();
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EXPECT_ANY_THROW(tm.GetMinimalOrientedBoundingBox());
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// Point
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tm = geometry::TetraMesh({{0, 0, 0}}, {{0, 0, 0, 0}});
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EXPECT_ANY_THROW(tm.GetMinimalOrientedBoundingBox());
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tm = geometry::TetraMesh({{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
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{{0, 1, 2, 3}});
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EXPECT_ANY_THROW(tm.GetMinimalOrientedBoundingBox());
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EXPECT_NO_THROW(tm.GetMinimalOrientedBoundingBox(true));
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// Plane
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tm = geometry::TetraMesh({{0, 0, 0}, {0, 0, 1}, {0, 1, 0}, {0, 1, 1}},
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{{0, 1, 2, 3}});
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EXPECT_ANY_THROW(tm.GetMinimalOrientedBoundingBox());
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EXPECT_NO_THROW(tm.GetMinimalOrientedBoundingBox(true));
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// Valid 4 points
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tm = geometry::TetraMesh({{0, 0, 0}, {0, 0, 1}, {0, 1, 0}, {1, 1, 1}},
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{{0, 1, 2, 3}});
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tm.GetMinimalOrientedBoundingBox();
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// 8 points with known ground truth
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tm = geometry::TetraMesh({{0, 0, 0},
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{0, 0, 1},
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{0, 2, 0},
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{0, 2, 1},
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{3, 0, 0},
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{3, 0, 1},
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{3, 2, 0},
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{3, 2, 1}},
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{{0, 1, 2, 3},
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{4, 5, 6, 7},
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{0, 1, 4, 5},
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{2, 3, 6, 7},
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{0, 2, 4, 6},
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{1, 3, 5, 7}});
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obb = tm.GetMinimalOrientedBoundingBox();
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EXPECT_EQ(obb.center_, Eigen::Vector3d(1.5, 1, 0.5));
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EXPECT_EQ(obb.extent_, Eigen::Vector3d(3, 2, 1));
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EXPECT_EQ(obb.color_, Eigen::Vector3d(1, 1, 1));
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ExpectEQ(Sort(obb.GetBoxPoints()),
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Sort(std::vector<Eigen::Vector3d>({{0, 0, 0},
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{0, 0, 1},
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{0, 2, 0},
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{0, 2, 1},
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{3, 0, 0},
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{3, 0, 1},
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{3, 2, 0},
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{3, 2, 1}})));
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// Check for a bug where the OBB rotation contained a reflection for this
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// example.
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tm = geometry::TetraMesh({{0, 2, 4}, {7, 9, 1}, {5, 2, 0}, {3, 8, 7}},
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{{0, 1, 2, 3}});
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obb = tm.GetMinimalOrientedBoundingBox();
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EXPECT_GT(obb.R_.determinant(), 0.999);
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// should always be equal/smaller than axis aligned- & oriented bounding box
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tm = geometry::TetraMesh({{0.866, 0.474, 0.659},
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{0.943, 0.025, 0.789},
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{0.386, 0.264, 0.691},
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{0.938, 0.588, 0.496},
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{0.221, 0.116, 0.257},
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{0.744, 0.182, 0.052},
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{0.019, 0.525, 0.699},
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{0.722, 0.134, 0.668}},
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{{0, 1, 2, 3},
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{4, 0, 2, 3},
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{4, 0, 1, 2},
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{5, 4, 6, 3},
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{5, 4, 2, 3},
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{5, 4, 1, 2},
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{7, 1, 2, 6},
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{7, 5, 2, 6},
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{7, 5, 1, 2},
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{7, 5, 4, 6},
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{7, 5, 4, 1},
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{7, 0, 1, 6},
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{7, 4, 0, 6},
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{7, 4, 0, 1}});
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geometry::OrientedBoundingBox mobb = tm.GetMinimalOrientedBoundingBox();
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obb = tm.GetOrientedBoundingBox();
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geometry::AxisAlignedBoundingBox aabb = tm.GetAxisAlignedBoundingBox();
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EXPECT_GT(obb.Volume(), mobb.Volume());
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EXPECT_GT(aabb.Volume(), mobb.Volume());
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}
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TEST(TetraMesh, Transform) {
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std::vector<Eigen::Vector3d> ref_vertices = {
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{1.411252, 4.274168, 3.130918}, {1.231757, 4.154505, 3.183678},

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