LineSet.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <memory>
#include <vector>
 
#include "ecvHObject.h"
 
class ccMesh;
class ccBBox;
class ecvOrientedBBox;
class ccPointCloud;
namespace cloudViewer {
namespace geometry {
 
class TetraMesh;
 
class CV_DB_LIB_API LineSet : public ccHObject {
public:
    LineSet(const char *name = "LineSet") : ccHObject(name) {}
    LineSet(const std::vector<Eigen::Vector3d> &points,
            const std::vector<Eigen::Vector2i> &lines,
            const char *name = "LineSet")
        : ccHObject(name), points_(points), lines_(lines) {}
    ~LineSet() override {}
 
    // inherited methods (ccHObject)
    virtual bool isSerializable() const override { return true; }
 
    virtual CV_CLASS_ENUM getClassID() const override {
        return CV_TYPES::LINESET;
    }
 
    virtual ccBBox getOwnBB(bool withGLFeatures = false) override;
 
protected:
    // inherited methods (ccHObject)
    virtual void drawMeOnly(CC_DRAW_CONTEXT &context) override;
 
public:
    LineSet &clear();
    inline virtual bool IsEmpty() const override { return !HasPoints(); }
    virtual Eigen::Vector3d GetMinBound() const override;
    virtual Eigen::Vector3d GetMaxBound() const override;
    virtual Eigen::Vector3d GetCenter() const override;
    virtual ccBBox GetAxisAlignedBoundingBox() const override;
    virtual ecvOrientedBBox GetOrientedBoundingBox() const override;
    virtual LineSet &Transform(const Eigen::Matrix4d &transformation) override;
    virtual LineSet &Translate(const Eigen::Vector3d &translation,
                               bool relative = true) override;
    virtual LineSet &Scale(const double s,
                           const Eigen::Vector3d &center) override;
    virtual LineSet &Rotate(const Eigen::Matrix3d &R,
                            const Eigen::Vector3d &center) override;
 
    LineSet &operator+=(const LineSet &lineset);
    LineSet operator+(const LineSet &lineset) const;
 
    bool HasPoints() const { return points_.size() > 0; }
 
    bool HasLines() const { return HasPoints() && lines_.size() > 0; }
 
    bool HasColors() const {
        return HasLines() && colors_.size() == lines_.size();
    }
 
    std::pair<Eigen::Vector3d, Eigen::Vector3d> GetLineCoordinate(
            size_t line_index) const {
        return std::make_pair(points_[lines_[line_index][0]],
                              points_[lines_[line_index][1]]);
    }
 
    LineSet &PaintUniformColor(const Eigen::Vector3d &color) {
        ResizeAndPaintUniformColor(colors_, lines_.size(), color);
        return *this;
    }
 
    static std::shared_ptr<LineSet> CreateFromPointCloudCorrespondences(
            const ccPointCloud &cloud0,
            const ccPointCloud &cloud1,
            const std::vector<std::pair<int, int>> &correspondences);
 
    static std::shared_ptr<LineSet> CreateFromOrientedBoundingBox(
            const ecvOrientedBBox &box);
 
    static std::shared_ptr<LineSet> CreateFromAxisAlignedBoundingBox(
            const ccBBox &box);
 
    static std::shared_ptr<LineSet> CreateFromTriangleMesh(const ccMesh &mesh);
 
    static std::shared_ptr<LineSet> CreateFromTetraMesh(const TetraMesh &mesh);
 
    static std::shared_ptr<LineSet> CreateCameraVisualization(
            int view_width_px,
            int view_height_px,
            const Eigen::Matrix3d &intrinsic,
            const Eigen::Matrix4d &extrinsic,
            double scale = 1.0);
 
public:
    std::vector<Eigen::Vector3d> points_;
    std::vector<Eigen::Vector2i> lines_;
    std::vector<Eigen::Vector3d> colors_;
};
 
}  // namespace geometry
}  // namespace cloudViewer