Cloud.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <time.h>
 
#include <algorithm>
#include <cmath>
#include <iomanip>
#include <iostream>
#include <map>
#include <numeric>
#include <unordered_map>
#include <vector>
 
namespace cloudViewer {
namespace ml {
namespace contrib {
 
// Point class
// ***********
 
class PointXYZ {
public:
    // Elements
    // ********
 
    float x, y, z;
 
    // Methods
    // *******
 
    // Constructor
    PointXYZ() = default;
 
    PointXYZ(float x0, float y0, float z0) {
        x = x0;
        y = y0;
        z = z0;
    }
 
    // array type accessor
    float operator[](int i) const {
        if (i == 0)
            return x;
        else if (i == 1)
            return y;
        else
            return z;
    }
 
    // opperations
    float dot(const PointXYZ P) const { return x * P.x + y * P.y + z * P.z; }
 
    float sq_norm() { return x * x + y * y + z * z; }
 
    PointXYZ cross(const PointXYZ P) const {
        return PointXYZ(y * P.z - z * P.y, z * P.x - x * P.z,
                        x * P.y - y * P.x);
    }
 
    PointXYZ& operator+=(const PointXYZ& P) {
        x += P.x;
        y += P.y;
        z += P.z;
        return *this;
    }
 
    PointXYZ& operator-=(const PointXYZ& P) {
        x -= P.x;
        y -= P.y;
        z -= P.z;
        return *this;
    }
 
    PointXYZ& operator*=(const float& a) {
        x *= a;
        y *= a;
        z *= a;
        return *this;
    }
 
    static PointXYZ floor(const PointXYZ P) {
        return PointXYZ(std::floor(P.x), std::floor(P.y), std::floor(P.z));
    }
};
 
// Point Opperations
// *****************
 
inline PointXYZ operator+(const PointXYZ A, const PointXYZ B) {
    return PointXYZ(A.x + B.x, A.y + B.y, A.z + B.z);
}
 
inline PointXYZ operator-(const PointXYZ A, const PointXYZ B) {
    return PointXYZ(A.x - B.x, A.y - B.y, A.z - B.z);
}
 
inline PointXYZ operator*(const PointXYZ P, const float a) {
    return PointXYZ(P.x * a, P.y * a, P.z * a);
}
 
inline PointXYZ operator*(const float a, const PointXYZ P) {
    return PointXYZ(P.x * a, P.y * a, P.z * a);
}
 
inline std::ostream& operator<<(std::ostream& os, const PointXYZ P) {
    return os << "[" << P.x << ", " << P.y << ", " << P.z << "]";
}
 
inline bool operator==(const PointXYZ A, const PointXYZ B) {
    return A.x == B.x && A.y == B.y && A.z == B.z;
}
 
PointXYZ max_point(std::vector<PointXYZ> points);
PointXYZ min_point(std::vector<PointXYZ> points);
 
struct PointCloud {
    std::vector<PointXYZ> pts;
 
    // Must return the number of data points
    inline size_t kdtree_get_point_count() const { return pts.size(); }
 
    // Returns the dim'th component of the idx'th point in the class:
    // Since this is inlined and the "dim" argument is typically an immediate
    // value, the
    //  "if/else's" are actually solved at compile time.
    inline float kdtree_get_pt(const size_t idx, const size_t dim) const {
        if (dim == 0)
            return pts[idx].x;
        else if (dim == 1)
            return pts[idx].y;
        else
            return pts[idx].z;
    }
 
    // Optional bounding-box computation: return false to default to a standard
    // bbox computation loop.
    //   Return true if the BBOX was already computed by the class and returned
    //   in "bb" so it can be avoided to redo it again. Look at bb.size() to
    //   find out the expected dimensionality (e.g. 2 or 3 for point clouds)
    template <class BBOX>
    bool kdtree_get_bbox(BBOX& /* bb */) const {
        return false;
    }
};
 
}  // namespace contrib
}  // namespace ml
}  // namespace cloudViewer