79 lines
3.2 KiB
C
79 lines
3.2 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include <Eigen/Core>
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#include <memory>
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#include <vector>
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#include "open3d/geometry/Geometry3D.h"
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namespace open3d {
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namespace geometry {
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class PointCloud;
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}
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namespace visualization {
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/// A utility class to store picked points of a pointcloud
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class PointCloudPicker : public geometry::Geometry3D {
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public:
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PointCloudPicker()
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: geometry::Geometry3D(geometry::Geometry::GeometryType::Unspecified) {}
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~PointCloudPicker() override {}
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public:
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PointCloudPicker& Clear() override;
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bool IsEmpty() const override;
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Eigen::Vector3d GetMinBound() const final;
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Eigen::Vector3d GetMaxBound() const final;
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Eigen::Vector3d GetCenter() const final;
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/// If point cloud does not exist, creates an axis-aligned bounding box
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/// form its default constructor. If point cloud exists, creates the
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/// axis-aligned bounding box around it. Further details in
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/// AxisAlignedBoundingBox::CreateFromPoints()
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geometry::AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const final;
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/// If point cloud does not exist, creates an oriented bounding box
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/// form its default constructor. If point cloud exists, creates the
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/// oriented bounding box around it. Further details in
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/// OrientedBoundingBox::CreateFromPoints()
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/// \param robust If set to true uses a more robust method which works
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/// in degenerate cases but introduces noise to the points
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/// coordinates.
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geometry::OrientedBoundingBox GetOrientedBoundingBox(
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bool robust = false) const final;
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/// If point cloud does not exist, creates an oriented bounding box
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/// form its default constructor. If point cloud exists, creates the minimal
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/// oriented bounding box around it.
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/// Further details in OrientedBoundingBox::CreateFromPointsMinimal()
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/// \param robust If set to true uses a more robust method which works
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/// in degenerate cases but introduces noise to the points
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/// coordinates.
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geometry::OrientedBoundingBox GetMinimalOrientedBoundingBox(
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bool robust = false) const final;
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PointCloudPicker& Transform(const Eigen::Matrix4d& transformation) override;
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PointCloudPicker& Translate(const Eigen::Vector3d& translation,
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bool relative = true) override;
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PointCloudPicker& Scale(const double scale,
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const Eigen::Vector3d& center) override;
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PointCloudPicker& Rotate(const Eigen::Matrix3d& R,
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const Eigen::Vector3d& center) override;
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bool SetPointCloud(std::shared_ptr<const geometry::Geometry> ptr);
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public:
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std::shared_ptr<const geometry::Geometry> pointcloud_ptr_;
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std::vector<size_t> picked_indices_;
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};
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} // namespace visualization
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} // namespace open3d
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