AABB.hpp

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#include "lvr2/types/MatrixTypes.hpp"

#include <limits>
#include <iostream>

namespace lvr2
{

template<typename T>
class AABB
{
    Vector3<T> m_min;
    Vector3<T> m_max;
    Vector3<T> m_sum;
    size_t m_count;

public:
    AABB();

    template<typename P>
    AABB(P* points, size_t count) : AABB()
    {
        for (size_t i = 0; i < count; i++)
        {
            addPoint(points[i]);
        }
    }

    template<typename P>
    AABB(P& points, size_t count) : AABB()
    {
        for(size_t i = 0; i < count; i++)
        {
            addPoint(points[i]);
        }
    }

    const Vector3<T>& min() const;

    const Vector3<T>& max() const;

    Vector3<T> avg() const;

    size_t count() const;

    template<typename P>
    void addPoint(const P& point)
    {
        for (int axis = 0; axis < 3; axis++)
        {
            double val = point[axis];
            if (val < m_min[axis])
            {
                m_min[axis] = val;
            }
            if (val > m_max[axis])
            {
                m_max[axis] = val;
            }
            m_sum[axis] += val;
        }
        m_count++;
    }

    T difference(int axis) const;

    int longestAxis() const;
};

} // namespace lvr2

#include "lvr2/registration/AABB.tcc"