OrientedBoundingBox.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// Local
#include "BoundingBox.h"
#include "CVGeom.h"
#include "Eigen.h"
 
namespace cloudViewer {
class CV_CORE_LIB_API OrientedBoundingBox {
public:
    OrientedBoundingBox()
        : center_(0, 0, 0),
          R_(Eigen::Matrix3d::Identity()),
          extent_(0, 0, 0),
          color_(0, 0, 0) {}
    OrientedBoundingBox(const Eigen::Vector3d& center,
                        const Eigen::Matrix3d& R,
                        const Eigen::Vector3d& extent)
        : center_(center), R_(R), extent_(extent), color_(0, 0, 0) {}
    virtual ~OrientedBoundingBox() {}
 
public:
    OrientedBoundingBox& Clear();
 
    inline const Eigen::Vector3d& GetExtent() const { return extent_; }
 
    inline CCVector3 getCenter() const { return center_; }
 
    Eigen::Vector3d GetHalfExtent() const { return GetExtent() * 0.5; }
 
    inline double GetMaxExtent() const { return extent_.maxCoeff(); }
 
    inline void SetColor(const Eigen::Vector3d& color) { color_ = color; }
    inline const Eigen::Vector3d& GetColor() const { return color_; }
 
    inline const Eigen::Matrix3d& GetRotation() const { return R_; }
 
    inline const Eigen::Vector3d& GetPosition() const { return center_; }
 
    double volume() const;
 
    std::vector<Eigen::Vector3d> GetBoxPoints() const;
 
    std::vector<size_t> GetPointIndicesWithinBoundingBox(
            const std::vector<Eigen::Vector3d>& points) const;
 
    std::vector<size_t> GetPointIndicesWithinBoundingBox(
            const std::vector<CCVector3>& points) const;
 
    static OrientedBoundingBox CreateFromAxisAlignedBoundingBox(
            const BoundingBox& aabox);
 
public:
    Eigen::Vector3d center_;
    Eigen::Matrix3d R_;
    Eigen::Vector3d extent_;
    Eigen::Vector3d color_;
};
 
}  // namespace cloudViewer