PointCloudPicker.h

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#pragma once

#include <Eigen/Core>
#include <memory>
#include <vector>

#include "Open3D/Geometry/Geometry3D.h"

namespace open3d {

namespace geometry {
class PointCloud;
}
namespace visualization {

class PointCloudPicker : public geometry::Geometry3D {
public:
    PointCloudPicker()
        : geometry::Geometry3D(geometry::Geometry::GeometryType::Unspecified) {}
    ~PointCloudPicker() override {}

public:
    PointCloudPicker& Clear() override;
    bool IsEmpty() const override;
    Eigen::Vector3d GetMinBound() const final;
    Eigen::Vector3d GetMaxBound() const final;
    Eigen::Vector3d GetCenter() const final;
    geometry::AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const final;
    geometry::OrientedBoundingBox GetOrientedBoundingBox() const final;
    PointCloudPicker& Transform(const Eigen::Matrix4d& transformation) override;
    PointCloudPicker& Translate(const Eigen::Vector3d& translation,
                                bool relative = true) override;
    PointCloudPicker& Scale(const double scale,
                            const Eigen::Vector3d& center) override;
    PointCloudPicker& Rotate(const Eigen::Matrix3d& R,
                             const Eigen::Vector3d& center) override;
    bool SetPointCloud(std::shared_ptr<const geometry::Geometry> ptr);

public:
    std::shared_ptr<const geometry::Geometry> pointcloud_ptr_;
    std::vector<size_t> picked_indices_;
};

}  // namespace visualization
}  // namespace open3d