ecvOrientedBBox.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// LOCAL
#include "CV_db.h"
#include "ecvColorTypes.h"
#include "ecvDrawableObject.h"
#include "ecvHObject.h"
 
// CV_CORE_LIB
#include <OrientedBoundingBox.h>
 
#ifdef USE_EIGEN
#endif  // USE_EIGEN
#include <Eigen/Core>
 
 
class ccGLMatrix;
class ccGLMatrixd;
class CV_DB_LIB_API ecvOrientedBBox : public cloudViewer::OrientedBoundingBox,
                                      public ccHObject {
public:
    ecvOrientedBBox()
        : cloudViewer::OrientedBoundingBox(), ccHObject("ecvOrientedBBox") {}
 
    ecvOrientedBBox(const Eigen::Vector3d& center,
                    const Eigen::Matrix3d& R,
                    const Eigen::Vector3d& extent,
                    const std::string& name = "ecvOrientedBBox")
        : cloudViewer::OrientedBoundingBox(center, R, extent),
          ccHObject(name.c_str()) {}
 
    ~ecvOrientedBBox() override {}
 
    // inherited methods (ccHObject)
    virtual bool isSerializable() const override { return true; }
    virtual CV_CLASS_ENUM getClassID() const override {
        return CV_TYPES::ORIENTED_BBOX;
    }
    // Returns the entity's own bounding-box
    virtual ccBBox getOwnBB(bool withGLFeatures = false) override;
 
    // Inherited from ccHObject - override to avoid hiding base class method
    void draw(CC_DRAW_CONTEXT& context) override;
 
 
    void draw(CC_DRAW_CONTEXT& context, const ecvColor::Rgb& col);
 
    inline virtual bool IsEmpty() const override { return volume() <= 0; }
    virtual Eigen::Vector3d GetMinBound() const override;
    virtual Eigen::Vector3d GetMaxBound() const override;
    virtual Eigen::Vector3d GetCenter() const override;
 
    virtual ccBBox GetAxisAlignedBoundingBox() const override;
    virtual ecvOrientedBBox GetOrientedBoundingBox() const override;
 
    virtual ecvOrientedBBox& Transform(
            const Eigen::Matrix4d& transformation) override;
    virtual ecvOrientedBBox& Translate(const Eigen::Vector3d& translation,
                                       bool relative = true) override;
    virtual ecvOrientedBBox& Scale(const double scale,
                                   const Eigen::Vector3d& center) override;
    virtual ecvOrientedBBox& Rotate(const Eigen::Matrix3d& R,
                                    const Eigen::Vector3d& center) override;
 
    const ecvOrientedBBox operator*(const ccGLMatrix& mat);
    const ecvOrientedBBox operator*(const ccGLMatrixd& mat);
 
    static ecvOrientedBBox CreateFromPoints(
            const std::vector<Eigen::Vector3d>& points);
    static ecvOrientedBBox CreateFromPoints(
            const std::vector<CCVector3>& points);
 
    static ecvOrientedBBox CreateFromAxisAlignedBoundingBox(
            const ccBBox& aabox);
};