PointCloudPicker.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#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(
            bool robust = false) const final;
 
    geometry::OrientedBoundingBox GetMinimalOrientedBoundingBox(
            bool robust = false) 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