feat: add possibility to crop pc with any box

Author: DamienGilliard

src/diffCheck/geometry/DFPointCloud.cc

@@ -231,6 +231,24 @@ namespace diffCheck::geometry
             this->Normals.push_back(normal);
     }
 
+    void DFPointCloud::Crop(const std::vector<Eigen::Vector3d> &corners)
+    {
+        if (corners.size() != 8)
+            throw std::invalid_argument("The corners vector must contain exactly 8 points.");
+        open3d::geometry::OrientedBoundingBox obb = open3d::geometry::OrientedBoundingBox::CreateFromPoints(corners);
+        auto O3DPointCloud = this->Cvt2O3DPointCloud();
+        auto O3DPointCloudCropped = O3DPointCloud->Crop(obb);
+        this->Points.clear();
+        for (auto &point : O3DPointCloudCropped->points_)
+            this->Points.push_back(point);
+        this->Colors.clear();
+        for (auto &color : O3DPointCloudCropped->colors_)
+            this->Colors.push_back(color);
+        this->Normals.clear();
+        for (auto &normal : O3DPointCloudCropped->normals_)
+            this->Normals.push_back(normal);
+    }
+
     DFPointCloud DFPointCloud::Duplicate() const
     {
         return DFPointCloud(this->Points, this->Colors, this->Normals);

src/diffCheck/geometry/DFPointCloud.hh

@@ -97,6 +97,12 @@ namespace diffCheck::geometry
          */
         void Crop(const Eigen::Vector3d &minBound, const Eigen::Vector3d &maxBound);
 
+        /**
+         * @brief Crop the point cloud to a bounding box defined by the 8 corners of the box
+         * @param corners the 8 corners of the bounding box as a vector of Eigen::Vector3d
+         */
+        void Crop(const std::vector<Eigen::Vector3d> &corners);
+
         /**
          * @brief Get the duplicate of the point cloud. This is mainly used in the python bindings
          * 

src/diffCheckBindings.cc

@@ -61,9 +61,16 @@ PYBIND11_MODULE(diffcheck_bindings, m) {
         .def("remove_statistical_outliers", &diffCheck::geometry::DFPointCloud::RemoveStatisticalOutliers, 
             py::arg("nb_neighbors"), py::arg("std_ratio"))
 
-        .def("crop", &diffCheck::geometry::DFPointCloud::Crop,
+        .def("crop",
+            (void (diffCheck::geometry::DFPointCloud::*)(const Eigen::Vector3d&, const Eigen::Vector3d&))
+            &diffCheck::geometry::DFPointCloud::Crop,
             py::arg("min_bound"), py::arg("max_bound"))
 
+        .def("crop",
+            (void (diffCheck::geometry::DFPointCloud::*)(const std::vector<Eigen::Vector3d>&))
+            &diffCheck::geometry::DFPointCloud::Crop,
+            py::arg("corners"))
+
         .def("duplicate", &diffCheck::geometry::DFPointCloud::Duplicate)
 
         .def("load_from_PLY", &diffCheck::geometry::DFPointCloud::LoadFromPLY)