ADD: OBB added for both dfmesh and dfcloud + bindings

Author: 9and3

src/diffCheck/geometry/DFMesh.cc

@@ -71,6 +71,14 @@ namespace diffCheck::geometry
         this->Cvt2DFMesh(O3DTriangleMesh);
     }
 
+    std::vector<Eigen::Vector3d> DFMesh::GetTightBoundingBox()
+    {
+        auto O3DTriangleMesh = this->Cvt2O3DTriangleMesh();
+        open3d::geometry::OrientedBoundingBox tightOOBB = O3DTriangleMesh->GetMinimalOrientedBoundingBox();
+        std::vector<Eigen::Vector3d> bboxPts = tightOOBB.GetBoxPoints();
+        return bboxPts;
+    }
+
     void DFMesh::LoadFromPLY(const std::string &path)
     {
         std::shared_ptr<diffCheck::geometry::DFMesh> tempMesh_ptr = diffCheck::io::ReadPLYMeshFromFile(path);

src/diffCheck/geometry/DFMesh.hh

@@ -62,6 +62,15 @@ namespace diffCheck::geometry
          */
         void ApplyTransformation(const diffCheck::transformation::DFTransformation &transformation);
 
+    public:  ///< Utils
+        /**
+         * @brief Get the mesh tight bounding box
+         * 
+         * @return std::vector<Eigen::Vector3d> A vector of two Eigen::Vector3d, with the first one being the minimum
+         * point and the second one the maximum point of the bounding box.
+         */
+        std::vector<Eigen::Vector3d> GetTightBoundingBox();
+
     public:  ///< I/O loader
         /**
          * @brief Read a mesh from a file

src/diffCheck/geometry/DFPointCloud.cc

@@ -53,7 +53,15 @@ namespace diffCheck::geometry
         extremePoints.push_back(boundingBox.GetMinBound());
         extremePoints.push_back(boundingBox.GetMaxBound());
         return extremePoints;
-    }   
+    }
+
+    std::vector<Eigen::Vector3d> DFPointCloud::GetTightBoundingBox()
+    {
+        open3d::geometry::OrientedBoundingBox tightOOBB = this->Cvt2O3DPointCloud()->GetMinimalOrientedBoundingBox();
+        std::vector<Eigen::Vector3d> bboxPts = tightOOBB.GetBoxPoints();
+        return bboxPts;
+    }
+
     void DFPointCloud::ApplyTransformation(const diffCheck::transformation::DFTransformation &transformation)
     {
         auto O3DPointCloud = this->Cvt2O3DPointCloud();

src/diffCheck/geometry/DFPointCloud.hh

@@ -58,6 +58,14 @@ namespace diffCheck::geometry
         */
         std::vector<Eigen::Vector3d> ComputeBoundingBox();
 
+        /**
+         * @brief Get the tight bounding box of the point cloud
+         * 
+         * @return std::vector<Eigen::Vector3d> A vector of two Eigen::Vector3d, with the first one being the minimum
+         * point and the second one the maximum point of the bounding box.
+        */
+        std::vector<Eigen::Vector3d> GetTightBoundingBox();
+
     public:  ///< Transformers
         /**
          * @brief Apply a transformation to the point cloud

src/diffCheckBindings.cc

@@ -34,6 +34,8 @@ PYBIND11_MODULE(diffcheck_bindings, m) {
 
         .def("load_from_PLY", &diffCheck::geometry::DFPointCloud::LoadFromPLY)
 
+        .def("get_tight_bounding_box", &diffCheck::geometry::DFPointCloud::GetTightBoundingBox)
+
         .def("get_num_points", &diffCheck::geometry::DFPointCloud::GetNumPoints)
         .def("get_num_colors", &diffCheck::geometry::DFPointCloud::GetNumColors)
         .def("get_num_normals", &diffCheck::geometry::DFPointCloud::GetNumNormals)
@@ -60,6 +62,8 @@ PYBIND11_MODULE(diffcheck_bindings, m) {
 
         .def("sample_points_uniformly", &diffCheck::geometry::DFMesh::SampleCloudUniform)
 
+        .def("get_tight_bounding_box", &diffCheck::geometry::DFMesh::GetTightBoundingBox)
+
         .def("get_num_vertices", &diffCheck::geometry::DFMesh::GetNumVertices)
         .def("get_num_faces", &diffCheck::geometry::DFMesh::GetNumFaces)