PointCloud.h

#ifndef MESHING_POINT_CLOUD_H
#define MESHING_POINT_CLOUD_H

#include <KrisLibrary/math3d/primitives.h>
#include <KrisLibrary/math/vector.h>
#include <KrisLibrary/utils/PropertyMap.h>
#include <vector>
#include <iosfwd>
#include <string>

namespace Meshing {

using namespace Math3D;
using namespace std;

class PointCloud3D
{
 public:
  void Clear();
  bool LoadPCL(const char* fn);
  bool SavePCL(const char* fn) const;
  bool LoadPCL(istream& in);
  bool SavePCL(ostream& out) const;
  void FromDepthImage(int w,int h,float wfov,float hfov,const std::vector<float>& depths,const std::vector<unsigned int>& rgb,float invalidDepth=0.0);
  void FromDepthImage(int w,int h,float wfov,float hfov,float depthscale,const std::vector<unsigned short>& depths,const std::vector<unsigned int>& rgb,unsigned short invalidDepth=0);
  void GetAABB(Vector3& bmin,Vector3& bmax) const;
  void Transform(const Matrix4& mat);
  bool IsStructured() const;
  int GetStructuredWidth() const;
  int GetStructuredHeight() const;
  void SetStructured(int w,int h);
  Vector3 GetOrigin() const;
  void SetOrigin(const Vector3& origin);
  RigidTransform GetViewpoint() const;
  void SetViewpoint(const RigidTransform& T);
  int PropertyIndex(const string& name) const;
  bool HasProperty(const string& name) const { return PropertyIndex(name) >= 0; }
  bool GetProperty(const string& name,vector<Real>& items) const;
  int SetProperty(const string& name,const vector<Real>& items);
  void RemoveProperty(const string& name);
  void GetSubCloud(const Vector3& bmin,const Vector3& bmax,PointCloud3D& subcloud);
  void GetSubCloud(const string& property,Real value,PointCloud3D& subcloud);
  void GetSubCloud(const string& property,Real minValue,Real maxValue,PointCloud3D& subcloud);
  bool HasXYZAsProperties() const;
  void SetXYZAsProperties(bool);
  bool HasNormals() const;
  bool GetNormals(vector<Vector3>& normals) const;
  void SetNormals(const vector<Vector3>& normals);
  void ComputeNormals(Real radius=0);
  bool HasColor() const;
  bool HasOpacity() const;
  bool HasRGB() const;
  bool HasRGBA() const;
  bool UnpackColorChannels(bool alpha=false);
  bool PackColorChannels(const char* fmt="rgba");
  bool GetColors(vector<Real>& r,vector<Real>& g,vector<Real>& b,vector<Real>& a) const;
  bool GetColors(vector<Vector4>& rgba) const;
  void SetColors(const vector<Real>& r,const vector<Real>& g,const vector<Real>& b,bool includeAlpha = false);
  void SetColors(const vector<Real>& r,const vector<Real>& g,const vector<Real>& b,const vector<Real>& a,bool includeAlpha = true);
  void SetColors(const vector<Vector4>& rgba,bool includeAlpha=true);
  bool HasUV() const;
  bool GetUV(vector<Vector2>& uvs) const;
  void SetUV(const vector<Vector2>& uvs);

  vector<Vector3> points;
  vector<string> propertyNames;
  vector<Vector> properties;
  PropertyMap settings;
};

} //namespace Meshing

#endif