BoundingVolume.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#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 OrientedBoundingBox;
 
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 std::optional<core::Tensor> &center = std::nullopt);
 
    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;
 
    OrientedBoundingBox GetOrientedBoundingBox() 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_;
};
 
class OrientedBoundingBox : public Geometry, public DrawableGeometry {
public:
    OrientedBoundingBox(const core::Device &device = core::Device("CPU:0"));
 
    OrientedBoundingBox(const core::Tensor &center,
                        const core::Tensor &rotation,
                        const core::Tensor &extent);
 
    virtual ~OrientedBoundingBox() override {}
 
    core::Device GetDevice() const override { return device_; }
 
    core::Dtype GetDtype() const { return dtype_; }
 
    OrientedBoundingBox To(const core::Device &device, bool copy = false) const;
 
    OrientedBoundingBox Clone() const { return To(GetDevice(), /*copy=*/true); }
 
    OrientedBoundingBox &Clear() override;
 
    bool IsEmpty() const override { return Volume() == 0; }
 
    void SetCenter(const core::Tensor &center);
 
    void SetRotation(const core::Tensor &rotation);
 
    void SetExtent(const core::Tensor &extent);
 
    void SetColor(const core::Tensor &color);
 
public:
    core::Tensor GetMinBound() const;
 
    core::Tensor GetMaxBound() const;
 
    core::Tensor GetColor() const { return color_; }
 
    core::Tensor GetCenter() const { return center_; }
 
    core::Tensor GetRotation() const { return rotation_; }
 
    core::Tensor GetExtent() const { return extent_; }
 
    OrientedBoundingBox &Translate(const core::Tensor &translation,
                                   bool relative = true);
 
    OrientedBoundingBox &Rotate(
            const core::Tensor &rotation,
            const std::optional<core::Tensor> &center = std::nullopt);
 
    OrientedBoundingBox &Transform(const core::Tensor &transformation);
 
    OrientedBoundingBox &Scale(
            double scale,
            const std::optional<core::Tensor> &center = std::nullopt);
 
    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::OrientedBoundingBox ToLegacy() const;
 
    AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const;
 
    static OrientedBoundingBox CreateFromAxisAlignedBoundingBox(
            const AxisAlignedBoundingBox &aabb);
 
    static OrientedBoundingBox FromLegacy(
            const open3d::geometry::OrientedBoundingBox &box,
            const core::Dtype &dtype = core::Float32,
            const core::Device &device = core::Device("CPU:0"));
 
    static OrientedBoundingBox CreateFromPoints(
            const core::Tensor &points,
            bool robust = false,
            MethodOBBCreate method = MethodOBBCreate::MINIMAL_APPROX);
 
protected:
    core::Device device_ = core::Device("CPU:0");
    core::Dtype dtype_ = core::Float32;
    core::Tensor center_;
    core::Tensor rotation_;
    core::Tensor extent_;
    core::Tensor color_;
};
 
class OrientedBoundingEllipsoid : public Geometry {
public:
    OrientedBoundingEllipsoid(
            const core::Device &device = core::Device("CPU:0"));
 
    OrientedBoundingEllipsoid(const core::Tensor &center,
                              const core::Tensor &rotation,
                              const core::Tensor &radii);
 
    virtual ~OrientedBoundingEllipsoid() override {}
 
    core::Device GetDevice() const override { return device_; }
 
    core::Dtype GetDtype() const { return dtype_; }
 
    OrientedBoundingEllipsoid To(const core::Device &device,
                                 const core::Dtype &dtype,
                                 bool copy = false) const;
 
    OrientedBoundingEllipsoid Clone() const {
        return To(GetDevice(), GetDtype(), /*copy=*/true);
    }
 
    OrientedBoundingEllipsoid &Clear() override;
 
    bool IsEmpty() const override { return Volume() == 0; }
 
    void SetCenter(const core::Tensor &center);
 
    void SetRotation(const core::Tensor &rotation);
 
    void SetRadii(const core::Tensor &radii);
 
    void SetColor(const core::Tensor &color);
 
public:
    core::Tensor GetMinBound() const;
 
    core::Tensor GetMaxBound() const;
 
    core::Tensor GetColor() const { return color_; }
 
    core::Tensor GetCenter() const { return center_; }
 
    core::Tensor GetRotation() const { return rotation_; }
 
    core::Tensor GetRadii() const { return radii_; }
 
    OrientedBoundingEllipsoid &Translate(const core::Tensor &translation,
                                         bool relative = true);
 
    OrientedBoundingEllipsoid &Rotate(
            const core::Tensor &rotation,
            const std::optional<core::Tensor> &center = std::nullopt);
 
    OrientedBoundingEllipsoid &Scale(
            double scale,
            const std::optional<core::Tensor> &center = std::nullopt);
 
    double Volume() const;
 
    core::Tensor GetEllipsoidPoints() const;
 
    core::Tensor GetPointIndicesWithinBoundingEllipsoid(
            const core::Tensor &points) const;
 
    std::string ToString() const;
 
    open3d::geometry::OrientedBoundingEllipsoid ToLegacy() const;
 
    AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const;
 
    OrientedBoundingBox GetOrientedBoundingBox(bool robust = false) const;
 
    OrientedBoundingBox GetMinimalOrientedBoundingBox(
            bool robust = false) const;
 
    static OrientedBoundingEllipsoid FromLegacy(
            const open3d::geometry::OrientedBoundingEllipsoid &ellipsoid,
            const core::Dtype &dtype = core::Float32,
            const core::Device &device = core::Device("CPU:0"));
 
    static OrientedBoundingEllipsoid CreateFromPoints(
            const core::Tensor &points, bool robust = false);
 
protected:
    core::Device device_ = core::Device("CPU:0");
    core::Dtype dtype_ = core::Float32;
    core::Tensor center_;
    core::Tensor rotation_;
    core::Tensor radii_;
    core::Tensor color_;
};
 
}  // namespace geometry
}  // namespace t
}  // namespace open3d