BoundingVolume.h

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#pragma once

#include "open3d/core/Tensor.h"
#include "open3d/core/TensorCheck.h"
#include "open3d/geometry/BoundingVolume.h"
#include "open3d/t/geometry/DrawableGeometry.h"
#include "open3d/t/geometry/Geometry.h"
#include "open3d/utility/Logging.h"

namespace open3d {
namespace t {
namespace geometry {

class AxisAlignedBoundingBox : public Geometry, public DrawableGeometry {
public:
    AxisAlignedBoundingBox(const core::Device &device = core::Device("CPU:0"));

    AxisAlignedBoundingBox(const core::Tensor &min_bound,
                           const core::Tensor &max_bound);

    virtual ~AxisAlignedBoundingBox() override {}

    core::Device GetDevice() const override { return device_; }

    core::Dtype GetDtype() const { return dtype_; }

    AxisAlignedBoundingBox To(const core::Device &device,
                              bool copy = false) const;

    AxisAlignedBoundingBox Clone() const {
        return To(GetDevice(), /*copy=*/true);
    }

    AxisAlignedBoundingBox &Clear() override;

    bool IsEmpty() const override { return Volume() == 0; }

    void SetMinBound(const core::Tensor &min_bound);

    void SetMaxBound(const core::Tensor &max_bound);

    void SetColor(const core::Tensor &color);

public:
    core::Tensor GetMinBound() const { return min_bound_; }

    core::Tensor GetMaxBound() const { return max_bound_; }

    core::Tensor GetColor() const { return color_; }

    core::Tensor GetCenter() const { return (min_bound_ + max_bound_) * 0.5; }

    AxisAlignedBoundingBox &Translate(const core::Tensor &translation,
                                      bool relative = true);

    AxisAlignedBoundingBox &Scale(double scale, const core::Tensor &center);

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

    core::Tensor GetExtent() const { return max_bound_ - min_bound_; }

    core::Tensor GetHalfExtent() const { return GetExtent() / 2; }

    double GetMaxExtent() const {
        return GetExtent().Max({0}).To(core::Float64).Item<double>();
    }

    double GetXPercentage(double x) const;

    double GetYPercentage(double y) const;

    double GetZPercentage(double z) const;

    double Volume() const {
        return GetExtent().Prod({0}).To(core::Float64).Item<double>();
    }

    core::Tensor GetBoxPoints() const;

    core::Tensor GetPointIndicesWithinBoundingBox(
            const core::Tensor &points) const;

    std::string ToString() const;

    open3d::geometry::AxisAlignedBoundingBox ToLegacy() const;

    static AxisAlignedBoundingBox FromLegacy(
            const open3d::geometry::AxisAlignedBoundingBox &box,
            const core::Dtype &dtype = core::Float32,
            const core::Device &device = core::Device("CPU:0"));

    static AxisAlignedBoundingBox CreateFromPoints(const core::Tensor &points);

protected:
    core::Device device_ = core::Device("CPU:0");
    core::Dtype dtype_ = core::Float32;
    core::Tensor min_bound_;
    core::Tensor max_bound_;
    core::Tensor color_;
};

}  // namespace geometry
}  // namespace t
}  // namespace open3d