CVPointCloud.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// Local
#include "GenericIndexedCloudPersist.h"
#include "PointCloudTpl.h"
 
namespace cloudViewer {
 
class CV_CORE_LIB_API PointCloud
    : public PointCloudTpl<GenericIndexedCloudPersist> {
public:
    PointCloud() = default;
 
    ~PointCloud() override = default;
 
    bool reserveNormals(unsigned newCount) {
        if (m_normals.capacity() < newCount) {
            try {
                m_normals.reserve(newCount);
            } catch (const std::bad_alloc&) {
                return false;
            }
        }
 
        return true;
    }
 
    // inherited from PointCloudTpl
    bool resize(unsigned newCount) override {
        if (!PointCloudTpl<GenericIndexedCloudPersist>::resize(newCount)) {
            return false;
        }
 
        // resize the normals as well
        if (m_normals.capacity() != 0) {
            try {
                m_normals.resize(newCount);
            } catch (const std::bad_alloc&) {
                return false;
            }
        }
 
        return true;
    }
 
 
    inline void addNormal(const CCVector3& N) {
        assert(m_normals.size() < m_normals.capacity());
        m_normals.push_back(N);
    }
 
    std::vector<CCVector3>& normals() { return m_normals; }
 
    const std::vector<CCVector3>& normals() const { return m_normals; }
 
    // inherited from cloudViewer::GenericIndexedCloud
    bool normalsAvailable() const override {
        return !m_normals.empty() && m_normals.size() >= size();
    }
    const CCVector3* getNormal(unsigned pointIndex) const override {
        return &m_normals[pointIndex];
    }
 
protected:
    std::vector<CCVector3> m_normals;
};
 
}  // namespace cloudViewer