BBox.hpp

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*/


#ifndef BBOX_H_
#define BBOX_H_

#include <algorithm>
#include <limits>

#include "util/Vector.hpp"

namespace trase {

template <typename T, int N> struct bbox {
  using vector_t = Vector<T, N>;

  vector_t bmin;

  vector_t bmax;

  inline bbox()
      : bmin(vector_t::Constant(std::numeric_limits<T>::max())),
        bmax(vector_t::Constant(-std::numeric_limits<T>::max())) {}

  inline explicit bbox(const vector_t &p)
      : bmin(p), bmax(p + std::numeric_limits<T>::epsilon()) {}

  inline bbox(const vector_t &min, const vector_t &max)
      : bmin(min), bmax(max) {}

  vector_t delta() const { return bmax - bmin; }
  const vector_t &min() const { return bmin; }
  const vector_t &max() const { return bmax; }

  inline bbox &operator+=(const bbox &arg) {
    for (int i = 0; i < N; ++i) {
      bmin[i] = std::min(bmin[i], arg.bmin[i]);
      bmax[i] = std::max(bmax[i], arg.bmax[i]);
    }
    return *this;
  }

  inline bbox operator+(const bbox &arg) {
    bbox bounds = *this;
    bounds += arg;
    return bounds;
  }

  inline bbox &operator+=(const vector_t &arg) {
    bmin += arg;
    bmax += arg;
    return *this;
  }

  inline bbox operator+(const vector_t &arg) {
    bbox bounds = *this;
    bounds += arg;
    return bounds;
  }

  inline bbox &operator*=(const vector_t &arg) {
    bmin =
        static_cast<T>(0.5) *
        ((bmax * (static_cast<T>(1) - arg) + bmin * (static_cast<T>(1) + arg)));
    bmax =
        static_cast<T>(0.5) *
        ((bmax * (static_cast<T>(1) + arg) + bmin * (static_cast<T>(1) - arg)));
    return *this;
  }

  inline bbox operator*(const vector_t &arg) const {
    bbox bounds = *this;
    bounds *= arg;
    return bounds;
  }

  inline bool operator<(const bbox &arg) {
    bbox bounds;
    bool within = true;
    for (int i = 0; i < N; ++i) {
      within |= bmin[i] >= arg.bmin[i];
      within |= bmax[i] < arg.bmax[i];
    }
    return within;
  }

  inline bool operator<=(const bbox &arg) {
    bbox bounds;
    bool within = true;
    for (int i = 0; i < N; ++i) {
      within |= bmin[i] >= arg.bmin[i];
      within |= bmax[i] <= arg.bmax[i];
    }
    return within;
  }

  inline bool is_empty() {
    for (int i = 0; i < N; ++i) {
      if (bmax[i] < bmin[i] + 3 * std::numeric_limits<double>::epsilon()) {
        return true;
      }
    }
    return false;
  }

  vector_t to_coords(const bbox<T, N> &other, vector_t point,
                     bool y_inv = true) const {
    vector_t len_ratio = other.delta() / delta();

    // Get the relative position and invert y by default (e.g. limits->pixels)
    vector_t rel_pos = point - bmin;
    if (y_inv && N > 1) {
      rel_pos[1] = bmax[1] - point[1];
    }

    return other.bmin + rel_pos * len_ratio;
  }
};

template <typename T, int N>
std::ostream &operator<<(std::ostream &out, const bbox<T, N> &b) {
  return out << "bbox(" << b.bmin << "<->" << b.bmax << ")";
}

using bfloat2_t = bbox<float, 2>;
using bfloat1_t = bbox<float, 1>;

} // namespace trase

#endif