Change invalid values of min_bound and max_bound as done in legacy, r…

…elated pr isl-org#6444

cpp/open3d/t/geometry/BoundingVolume.cpp

@@ -42,9 +42,12 @@ AxisAlignedBoundingBox::AxisAlignedBoundingBox(const core::Tensor &min_bound,
 
     // Check if the bounding box is valid.
     if (Volume() < 0) {
-        utility::LogError(
-                "Invalid axis-aligned bounding box. Please make sure all "
-                "the elements in max bound are larger than min bound.");
+        utility::LogWarning(
+                "max_bound {} of bounding box is smaller than min_bound {} in "
+                "one or more axes. Fix input values to remove this warning.",
+                max_bound_.ToString(false), min_bound_.ToString(false));
+        max_bound_ = open3d::core::Maximum(min_bound, max_bound);
+        min_bound_ = open3d::core::Minimum(min_bound, max_bound);
     }
 }
 

cpp/tests/t/geometry/AxisAlignedBoundingBox.cpp

@@ -60,10 +60,6 @@ TEST_P(AxisAlignedBoundingBoxPermuteDevices, Constructor) {
     core::Tensor min_bound = core::Tensor::Init<float>({-1, -1, -1}, device);
     core::Tensor max_bound = core::Tensor::Init<float>({1, 1, 1}, device);
 
-    // Attempt to construct with invalid min/max bound.
-    EXPECT_THROW(t::geometry::AxisAlignedBoundingBox(max_bound, min_bound),
-                 std::runtime_error);
-
     t::geometry::AxisAlignedBoundingBox aabb(min_bound, max_bound);
 
     // Public members.
@@ -76,6 +72,11 @@ TEST_P(AxisAlignedBoundingBoxPermuteDevices, Constructor) {
             core::Tensor::Init<float>({1, 1, 1}, device)));
 
     EXPECT_EQ(aabb.GetDevice(), device);
+
+    // Attempt to construct with invalid min/max bound should create a valid
+    // bounding box with a warning.
+    t::geometry::AxisAlignedBoundingBox aabb_invalid(max_bound, min_bound);
+    EXPECT_TRUE(aabb_invalid.GetBoxPoints().AllClose(aabb.GetBoxPoints()));
 }
 
 TEST_P(AxisAlignedBoundingBoxPermuteDevicePairs, CopyDevice) {