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BoundBox.cpp
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BoundBox.cpp
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//-----------------------------------------------------------
// Copyright (C) 2019 Piotr (Peter) Beben <pdbcas@gmail.com>
// See LICENSE included with this distribution.
#include "BoundBox.h"
#include "Cloud.h"
#include "MessageLogger.h"
#include "constants.h"
#include <qopengl.h>
#include <Eigen/Dense>
#include <array>
using Vector3f = Eigen::Vector3f;
constexpr const std::array<GLuint, 24> BoundBox::m_elemGL;
//---------------------------------------------------------
BoundBox::BoundBox(const float minBBox[3], const float maxBBox[3],
MessageLogger* msgLogger)
{
m_msgLogger = msgLogger;
set(minBBox, maxBBox);
}
//---------------------------------------------------------
BoundBox::BoundBox(const Cloud& cloud, MessageLogger* msgLogger)
{
m_msgLogger = msgLogger;
set(cloud);
}
//---------------------------------------------------------
void BoundBox::set(const Cloud& cloud)
{
float minBBox[3] = {float_infinity, float_infinity, float_infinity};
float maxBBox[3] = {-float_infinity, -float_infinity, -float_infinity};
size_t numPoints = cloud.pointCount();
for(size_t i = 0; i < numPoints; ++i){
Vector3f v = cloud.point(i);
for(int j=0; j<3; ++j) {
minBBox[j] = std::min(v[j], minBBox[j]);
maxBBox[j] = std::max(v[j], maxBBox[j]);
}
}
set(minBBox, maxBBox);
}
//---------------------------------------------------------
void BoundBox::set(const float minBBox[3], const float maxBBox[3])
{
for(int i=0; i<3; ++i) {
m_minBBox[i] = minBBox[i];
m_maxBBox[i] = maxBBox[i];
}
m_vertCount = 8;
if( m_cloud != nullptr ) m_cloud->invalidateCT();
}
//---------------------------------------------------------
void BoundBox::pad(float padX, float padY, float padZ)
{
float padding[3] = {padX, padY, padZ};
for(int j=0; j<3; ++j) {
m_minBBox[j] -= padding[j];
m_maxBBox[j] += padding[j];
}
if( m_cloud != nullptr ) m_cloud->invalidateCT();
}
//---------------------------------------------------------
void BoundBox::rescale(float frac)
{
for(int j=0; j<3; ++j) {
float padding = frac*(m_maxBBox[j] - m_minBBox[j]);
m_minBBox[j] -= padding;
m_maxBBox[j] += padding;
}
if( m_cloud != nullptr ) m_cloud->invalidateCT();
}
//---------------------------------------------------------
void BoundBox::setParentCloud(Cloud *cloud)
{
m_cloud = cloud;
if( m_cloud != nullptr ) m_cloud->invalidateCT();
}
//---------------------------------------------------------
const GLfloat *BoundBox::vertGLData()
{
for(int i = 0, j = 0; i<m_vertCount; ++i){
for(int k = 0; k < 3; ++k){
m_vertGL[j+k] =
(((i>>k)&1) == 0) ? m_minBBox[k] : m_maxBBox[k];
}
m_vertGL[j+3] = 1.0f;
m_vertGL[j+4] = 0.0f;
m_vertGL[j+5] = 0.0f;
j += 6;
}
return static_cast<const GLfloat*>(m_vertGL.data());
}
//---------------------------------------------------------
void BoundBox::logMessageBBox() const
{
if(m_msgLogger != nullptr) {
m_msgLogger->logMessage(
QString("Bounding box minimum extent:\n") +
QString("(") +
QString::number(m_minBBox[0]) +
QString(", ") + QString::number(m_minBBox[1]) +
QString(", ") + QString::number(m_minBBox[2]) +
QString(")\n") +
QString("Bounding box maximum extent:\n") +
QString("(") +
QString::number(m_maxBBox[0]) +
QString(", ") + QString::number(m_maxBBox[1]) +
QString(", ") + QString::number(m_maxBBox[2]) +
QString(")\n"));
}
}
//---------------------------------------------------------