BoundingVolume.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
 
#include "open3d/geometry/Geometry3D.h"
 
namespace open3d {
namespace geometry {
 
class AxisAlignedBoundingBox;
class OrientedBoundingBox;
 
class OrientedBoundingEllipsoid : public Geometry3D {
public:
    OrientedBoundingEllipsoid()
        : Geometry3D(Geometry::GeometryType::OrientedBoundingEllipsoid),
          center_(0, 0, 0),
          R_(Eigen::Matrix3d::Identity()),
          radii_(0, 0, 0),
          color_(1, 1, 1) {}
 
    OrientedBoundingEllipsoid(const Eigen::Vector3d& center,
                              const Eigen::Matrix3d& R,
                              const Eigen::Vector3d& radii)
        : Geometry3D(Geometry::GeometryType::OrientedBoundingEllipsoid),
          center_(center),
          R_(R),
          radii_(radii),
          color_(1, 1, 1) {}
    ~OrientedBoundingEllipsoid() override {}
 
public:
    OrientedBoundingEllipsoid& 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 GetMinimalOrientedBoundingBox(
            bool robust) const override;
 
    virtual OrientedBoundingEllipsoid& Transform(
            const Eigen::Matrix4d& transformation) override;
    virtual OrientedBoundingEllipsoid& Translate(
            const Eigen::Vector3d& translation, bool relative = true) override;
    virtual OrientedBoundingEllipsoid& Scale(
            const double scale, const Eigen::Vector3d& center) override;
    virtual OrientedBoundingEllipsoid& Rotate(
            const Eigen::Matrix3d& R, const Eigen::Vector3d& center) override;
 
    double Volume() const;
 
    std::vector<Eigen::Vector3d> GetEllipsoidPoints() const;
 
    std::vector<size_t> GetPointIndicesWithinBoundingEllipsoid(
            const std::vector<Eigen::Vector3d>& points) const;
 
    static OrientedBoundingEllipsoid CreateFromPoints(
            const std::vector<Eigen::Vector3d>& points, bool robust = false);
 
public:
    Eigen::Vector3d center_;
    Eigen::Matrix3d R_;
    Eigen::Vector3d radii_;
    Eigen::Vector3d color_;
};
 
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 GetMinimalOrientedBoundingBox(
            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);
 
    static OrientedBoundingBox CreateFromPointsMinimal(
            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);
    ~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 OrientedBoundingBox GetMinimalOrientedBoundingBox(
            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