cxBoundingBox3D.cpp

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.
                 
Copyright (c) SINTEF Department of Medical Technology.
All rights reserved.
                 
CustusX is released under a BSD 3-Clause license.
                 
See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt) for details.
=========================================================================*/

#include "cxBoundingBox3D.h"
#include "cxUtilHelpers.h"
#include "cxTypeConversions.h"

// --------------------------------------------------------
namespace cx
{
//namespace utils
//{


// --------------------------------------------------------
// IntBoundingBox3D
IntBoundingBox3D::IntBoundingBox3D()
{
}
IntBoundingBox3D::IntBoundingBox3D(int x0, int x1, int y0, int y1, int z0, int z1)
{
        elems[0] = x0;
        elems[1] = x1;
        elems[2] = y0;
        elems[3] = y1;
        elems[4] = z0;
        elems[5] = z1;
}
IntBoundingBox3D::IntBoundingBox3D(const Vector3D& a, const Vector3D& b)
{
        Vector3D bl, tr;
        for (unsigned i = 0; i < a.size(); ++i)
        {
                bl[i] = std::min(a[i], b[i]);
                tr[i] = std::max(a[i], b[i]);
        }

        elems[0] = static_cast<int> (bl[0]);
        elems[1] = static_cast<int> (tr[0]);
        elems[2] = static_cast<int> (bl[1]);
        elems[3] = static_cast<int> (tr[1]);
        elems[4] = static_cast<int> (bl[2]);
        elems[5] = static_cast<int> (tr[2]);
}

IntBoundingBox3D::IntBoundingBox3D(const Eigen::Vector3i& a, const Eigen::Vector3i& b)
{
        Eigen::Vector3i bl, tr;
        for (unsigned i = 0; i < a.size(); ++i)
        {
                bl[i] = std::min(a[i], b[i]);
                tr[i] = std::max(a[i], b[i]);
        }

        elems[0] = static_cast<int> (bl[0]);
        elems[1] = static_cast<int> (tr[0]);
        elems[2] = static_cast<int> (bl[1]);
        elems[3] = static_cast<int> (tr[1]);
        elems[4] = static_cast<int> (bl[2]);
        elems[5] = static_cast<int> (tr[2]);
}

IntBoundingBox3D::IntBoundingBox3D(const double* data)
{
        for (unsigned i = 0; i < size(); ++i)
                elems[i] = static_cast<int> (data[i]);
        //      std::copy(data, data+size(), elems); 
}
IntBoundingBox3D::IntBoundingBox3D(const int* data)
{
        std::copy(data, data + size(), elems);
}
// --------------------------------------------------------
Eigen::Vector3i IntBoundingBox3D::bottomLeft() const
{
        return Eigen::Vector3i(elems[0], elems[2], elems[4]);
}
Eigen::Vector3i IntBoundingBox3D::topRight() const
{
        return Eigen::Vector3i(elems[1], elems[3], elems[5]);
}
Eigen::Vector3i IntBoundingBox3D::center() const
{
        return (bottomLeft() + topRight()) / 2;
}
Eigen::Vector3i IntBoundingBox3D::range() const
{
        return topRight() - bottomLeft();
}
Eigen::Vector3i IntBoundingBox3D::corner(int x, int y, int z) const
{
        Eigen::Vector3i c;
        c[0] = x ? elems[1] : elems[0];
        c[1] = y ? elems[3] : elems[2];
        c[2] = z ? elems[5] : elems[4];
        return c;
}
// --------------------------------------------------------

bool IntBoundingBox3D::contains(const Eigen::Vector3i& p) const
{
        bool inside = true;
        for (unsigned i = 0; i < 3; ++i)
                inside &= ((elems[2 * i] <= p[i]) && (p[i] <= elems[2 * i + 1]));
        return inside;
}

std::ostream& operator<<(std::ostream& s, const IntBoundingBox3D& data)
{
        return stream_range(s, data.begin(), data.end());
}
// --------------------------------------------------------

// --------------------------------------------------------
// DoubleBoundingBox3D 
DoubleBoundingBox3D::DoubleBoundingBox3D()
{
}
DoubleBoundingBox3D::DoubleBoundingBox3D(double x0, double x1, double y0, double y1, double z0, double z1)
{
        elems[0] = x0;
        elems[1] = x1;
        elems[2] = y0;
        elems[3] = y1;
        elems[4] = z0;
        elems[5] = z1;
}
DoubleBoundingBox3D::DoubleBoundingBox3D(const Vector3D& a, const Vector3D& b)
{
        Vector3D bl, tr;
        for (unsigned i = 0; i < a.size(); ++i)
        {
                bl[i] = std::min(a[i], b[i]);
                tr[i] = std::max(a[i], b[i]);
        }

        elems[0] = bl[0];
        elems[1] = tr[0];
        elems[2] = bl[1];
        elems[3] = tr[1];
        elems[4] = bl[2];
        elems[5] = tr[2];
}
DoubleBoundingBox3D::DoubleBoundingBox3D(const double* data)
{
        std::copy(data, data + size(), elems);
}
DoubleBoundingBox3D::DoubleBoundingBox3D(const int* data)
{
        std::copy(data, data + size(), elems);
}
DoubleBoundingBox3D::DoubleBoundingBox3D(const IntBoundingBox3D& bb)
{
        for (unsigned i = 0; i < size(); ++i)
        {
                elems[i] = bb.elems[i];
        }
}
// --------------------------------------------------------

DoubleBoundingBox3D DoubleBoundingBox3D::fromViewport(const double* data)
{
        return DoubleBoundingBox3D(data[0], data[2], data[1], data[3], 0, 0);
}
// --------------------------------------------------------

Vector3D DoubleBoundingBox3D::bottomLeft() const
{
        return Vector3D(elems[0], elems[2], elems[4]);
}
Vector3D DoubleBoundingBox3D::topRight() const
{
        return Vector3D(elems[1], elems[3], elems[5]);
}
Vector3D DoubleBoundingBox3D::center() const
{
        return (bottomLeft() + topRight()) / 2.0;
}
Vector3D DoubleBoundingBox3D::range() const
{
        return topRight() - bottomLeft();
}
Vector3D DoubleBoundingBox3D::corner(int x, int y, int z) const
{
        Vector3D c;
        c[0] = x ? elems[1] : elems[0];
        c[1] = y ? elems[3] : elems[2];
        c[2] = z ? elems[5] : elems[4];
        return c;
}
// --------------------------------------------------------

bool DoubleBoundingBox3D::contains(const Vector3D& p) const
{
        bool inside = true;
        for (unsigned i = 0; i < 3; ++i)
                inside &= ((elems[2 * i] <= p[i]) && (p[i] <= elems[2 * i + 1]));
        return inside;
}

bool similar(const DoubleBoundingBox3D& a, const DoubleBoundingBox3D& b, double tol)
{
        return similar(a.bottomLeft(), b.bottomLeft(), tol) && similar(a.topRight(), b.topRight(), tol);
}
// --------------------------------------------------------
std::ostream& operator<<(std::ostream& s, const DoubleBoundingBox3D& data)
{
        return stream_range(s, data.begin(), data.end());
}
// --------------------------------------------------------

DoubleBoundingBox3D DoubleBoundingBox3D::fromCloud(std::vector<Vector3D> cloud)
{
        if (cloud.empty())
                return DoubleBoundingBox3D::zero();

        Vector3D a = cloud[0]; // min
        Vector3D b = cloud[0]; // max

        for (unsigned int i = 0; i < cloud.size(); ++i)
        {
                for (unsigned int j = 0; j < 3; ++j)
                {
                        a[j] = std::min(a[j], cloud[i][j]);
                        b[j] = std::max(b[j], cloud[i][j]);
                }
        }
        return DoubleBoundingBox3D(a, b);
}

DoubleBoundingBox3D DoubleBoundingBox3D::fromString(const QString& text)
{
        std::vector<double> raw = convertQString2DoubleVector(text);
        if (raw.size() != 6)
                return DoubleBoundingBox3D(0, 1, 0, 1, 0, 1);
        return DoubleBoundingBox3D((double*) &(*raw.begin()));
}

DoubleBoundingBox3D DoubleBoundingBox3D::unionWith(const DoubleBoundingBox3D& other) const
{
        std::vector<Vector3D> cloud;
        cloud.push_back(corner(0,0,0));
        cloud.push_back(other.corner(0,0,0));
        cloud.push_back(corner(0,0,1));
        cloud.push_back(other.corner(0,0,1));
        cloud.push_back(corner(0,1,0));
        cloud.push_back(other.corner(0,1,0));
        cloud.push_back(corner(0,1,1));
        cloud.push_back(other.corner(0,1,1));
        cloud.push_back(corner(1,0,0));
        cloud.push_back(other.corner(1,0,0));
        cloud.push_back(corner(1,0,1));
        cloud.push_back(other.corner(1,0,1));
        cloud.push_back(corner(1,1,0));
        cloud.push_back(other.corner(1,1,0));
        cloud.push_back(corner(1,1,1));
        cloud.push_back(other.corner(1,1,1));
        return fromCloud(cloud);
}

DoubleBoundingBox3D intersection(DoubleBoundingBox3D a, DoubleBoundingBox3D b)
{
        DoubleBoundingBox3D bb = a;

        for (int i=0; i<3; ++i)
        {
                bb[2*i]   = std::max(a[2*i],   b[2*i]);
                bb[2*i+1] = std::min(a[2*i+1], b[2*i+1]);
        }

        // check for no intersection
        Vector3D range = bb.range();
        for (int i=0; i<3; ++i)
                if (range[i]<0.0)
                        return DoubleBoundingBox3D::zero();

        return bb;
}

// --------------------------------------------------------
//} // namespace utils
} // namespace cx
// --------------------------------------------------------