PointCloudPicker.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "visualization/utility/PointCloudPicker.h"
 
#include <Logging.h>
#include <ecvBBox.h>
#include <ecvOrientedBBox.h>
#include <ecvPointCloud.h>
 
namespace cloudViewer {
namespace visualization {
 
PointCloudPicker& PointCloudPicker::Clear() {
    picked_indices_.clear();
    return *this;
}
 
bool PointCloudPicker::isEmpty() const {
    return (!pointcloud_ptr_ || picked_indices_.empty());
}
 
Eigen::Vector3d PointCloudPicker::GetMinBound() const {
    if (pointcloud_ptr_) {
        return ((const ccPointCloud&)(*pointcloud_ptr_)).GetMinBound();
    } else {
        return Eigen::Vector3d(0.0, 0.0, 0.0);
    }
}
 
Eigen::Vector3d PointCloudPicker::GetMaxBound() const {
    if (pointcloud_ptr_) {
        return ((const ccPointCloud&)(*pointcloud_ptr_)).GetMaxBound();
    } else {
        return Eigen::Vector3d(0.0, 0.0, 0.0);
    }
}
 
Eigen::Vector3d PointCloudPicker::GetCenter() const {
    if (pointcloud_ptr_) {
        return ((const ccPointCloud&)(*pointcloud_ptr_)).GetCenter();
    } else {
        return Eigen::Vector3d(0.0, 0.0, 0.0);
    }
}
 
ccBBox PointCloudPicker::GetAxisAlignedBoundingBox() const {
    if (pointcloud_ptr_) {
        return ccBBox::CreateFromPoints(
                ((const ccPointCloud&)(*pointcloud_ptr_)).getPoints());
    } else {
        return ccBBox();
    }
}
 
ecvOrientedBBox PointCloudPicker::GetOrientedBoundingBox() const {
    if (pointcloud_ptr_) {
        return ecvOrientedBBox::CreateFromPoints(
                ((const ccPointCloud&)(*pointcloud_ptr_)).getPoints());
    } else {
        return ecvOrientedBBox();
    }
}
 
PointCloudPicker& PointCloudPicker::Transform(
        const Eigen::Matrix4d& /*transformation*/) {
    // Do nothing
    return *this;
}
 
PointCloudPicker& PointCloudPicker::Translate(
        const Eigen::Vector3d& translation, bool relative) {
    // Do nothing
    return *this;
}
 
PointCloudPicker& PointCloudPicker::Scale(const double s,
                                          const Eigen::Vector3d& center) {
    // Do nothing
    return *this;
}
 
PointCloudPicker& PointCloudPicker::Rotate(const Eigen::Matrix3d& R,
                                           const Eigen::Vector3d& center) {
    // Do nothing
    return *this;
}
 
bool PointCloudPicker::SetPointCloud(std::shared_ptr<const ccHObject> ptr) {
    if (!ptr || !ptr->isKindOf(CV_TYPES::POINT_CLOUD)) {
        return false;
    }
    pointcloud_ptr_ = ptr;
    return true;
}
 
}  // namespace visualization
}  // namespace cloudViewer