BoundingVolume.h

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#pragma once

#include <Eigen/Core>

#include "open3d/geometry/Geometry3D.h"

namespace open3d {
namespace geometry {

class AxisAlignedBoundingBox;

class OrientedBoundingBox : public Geometry3D {
public:
    OrientedBoundingBox()
        : Geometry3D(Geometry::GeometryType::OrientedBoundingBox),
          center_(0, 0, 0),
          R_(Eigen::Matrix3d::Identity()),
          extent_(0, 0, 0),
          color_(1, 1, 1) {}
    OrientedBoundingBox(const Eigen::Vector3d& center,
                        const Eigen::Matrix3d& R,
                        const Eigen::Vector3d& extent)
        : Geometry3D(Geometry::GeometryType::OrientedBoundingBox),
          center_(center),
          R_(R),
          extent_(extent) {}
    ~OrientedBoundingBox() override {}

public:
    OrientedBoundingBox& Clear() override;
    bool IsEmpty() const override;
    virtual Eigen::Vector3d GetMinBound() const override;
    virtual Eigen::Vector3d GetMaxBound() const override;
    virtual Eigen::Vector3d GetCenter() const override;
    virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
    virtual OrientedBoundingBox GetOrientedBoundingBox(
            bool robust) const override;
    virtual OrientedBoundingBox& Transform(
            const Eigen::Matrix4d& transformation) override;
    virtual OrientedBoundingBox& Translate(const Eigen::Vector3d& translation,
                                           bool relative = true) override;
    virtual OrientedBoundingBox& Scale(const double scale,
                                       const Eigen::Vector3d& center) override;
    virtual OrientedBoundingBox& Rotate(const Eigen::Matrix3d& R,
                                        const Eigen::Vector3d& center) override;

    double Volume() const;

    std::vector<Eigen::Vector3d> GetBoxPoints() const;

    std::vector<size_t> GetPointIndicesWithinBoundingBox(
            const std::vector<Eigen::Vector3d>& points) const;

    static OrientedBoundingBox CreateFromAxisAlignedBoundingBox(
            const AxisAlignedBoundingBox& aabox);

    static OrientedBoundingBox CreateFromPoints(
            const std::vector<Eigen::Vector3d>& points, bool robust = false);

public:
    Eigen::Vector3d center_;
    Eigen::Matrix3d R_;
    Eigen::Vector3d extent_;
    Eigen::Vector3d color_;
};

class AxisAlignedBoundingBox : public Geometry3D {
public:
    AxisAlignedBoundingBox()
        : Geometry3D(Geometry::GeometryType::AxisAlignedBoundingBox),
          min_bound_(0, 0, 0),
          max_bound_(0, 0, 0),
          color_(1, 1, 1) {}
    AxisAlignedBoundingBox(const Eigen::Vector3d& min_bound,
                           const Eigen::Vector3d& max_bound)
        : Geometry3D(Geometry::GeometryType::AxisAlignedBoundingBox),
          min_bound_(min_bound),
          max_bound_(max_bound),
          color_(1, 1, 1) {}
    ~AxisAlignedBoundingBox() override {}

public:
    AxisAlignedBoundingBox& Clear() override;
    bool IsEmpty() const override;
    virtual Eigen::Vector3d GetMinBound() const override;
    virtual Eigen::Vector3d GetMaxBound() const override;
    virtual Eigen::Vector3d GetCenter() const override;
    virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
    virtual OrientedBoundingBox GetOrientedBoundingBox(
            bool robust = false) const override;
    virtual AxisAlignedBoundingBox& Transform(
            const Eigen::Matrix4d& transformation) override;
    virtual AxisAlignedBoundingBox& Translate(
            const Eigen::Vector3d& translation, bool relative = true) override;

    virtual AxisAlignedBoundingBox& Scale(
            const double scale, const Eigen::Vector3d& center) override;

    virtual AxisAlignedBoundingBox& Rotate(
            const Eigen::Matrix3d& R, const Eigen::Vector3d& center) override;

    AxisAlignedBoundingBox& operator+=(const AxisAlignedBoundingBox& other);

    Eigen::Vector3d GetExtent() const { return (max_bound_ - min_bound_); }

    Eigen::Vector3d GetHalfExtent() const { return GetExtent() * 0.5; }

    double GetMaxExtent() const { return (max_bound_ - min_bound_).maxCoeff(); }

    double GetXPercentage(double x) const {
        return (x - min_bound_(0)) / (max_bound_(0) - min_bound_(0));
    }

    double GetYPercentage(double y) const {
        return (y - min_bound_(1)) / (max_bound_(1) - min_bound_(1));
    }

    double GetZPercentage(double z) const {
        return (z - min_bound_(2)) / (max_bound_(2) - min_bound_(2));
    }

    double Volume() const;
    std::vector<Eigen::Vector3d> GetBoxPoints() const;

    std::vector<size_t> GetPointIndicesWithinBoundingBox(
            const std::vector<Eigen::Vector3d>& points) const;

    std::string GetPrintInfo() const;

    static AxisAlignedBoundingBox CreateFromPoints(
            const std::vector<Eigen::Vector3d>& points);

public:
    Eigen::Vector3d min_bound_;
    Eigen::Vector3d max_bound_;
    Eigen::Vector3d color_;
};

}  // namespace geometry
}  // namespace open3d