ecvGenericPointCloud.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
 
// Local
#include "ecvAdvancedTypes.h"
#include "ecvBBox.h"
#include "ecvOctree.h"
#include "ecvOrientedBBox.h"
#include "ecvShiftedObject.h"
 
// System
#include <vector>
 
namespace cloudViewer {
class GenericProgressCallback;
class ReferenceCloud;
}  // namespace cloudViewer
 
class ccOctreeProxy;
 
/***************************************************
                                ccGenericPointCloud
***************************************************/
 
// default material for clouds (with normals)
#define CC_DEFAULT_CLOUD_AMBIENT_COLOR ecvColor::bright
#define CC_DEFAULT_CLOUD_SPECULAR_COLOR ecvColor::bright
#define CC_DEFAULT_CLOUD_DIFFUSE_COLOR ecvColor::bright
#define CC_DEFAULT_CLOUD_EMISSION_COLOR ecvColor::night
#define CC_DEFAULT_CLOUD_SHININESS 50.0f
 
 
class CV_DB_LIB_API ccGenericPointCloud
    : public ccShiftedObject,
      public cloudViewer::GenericIndexedCloudPersist {
    friend class ccMesh;
 
public:
    ccGenericPointCloud(QString name = QString());
 
    ccGenericPointCloud(const ccGenericPointCloud& cloud);
 
    ~ccGenericPointCloud() override;
 
    /***************************************************
                                            Clone/Copy
    ***************************************************/
 
 
    virtual ccGenericPointCloud* clone(ccGenericPointCloud* destCloud = nullptr,
                                       bool ignoreChildren = false) = 0;
 
    /***************************************************
                            Features deletion/clearing
    ***************************************************/
 
 
    virtual void clear();
 
    /***************************************************
                            Octree management
    ***************************************************/
 
 
    virtual ccOctree::Shared computeOctree(
            cloudViewer::GenericProgressCallback* progressCb = nullptr,
            bool autoAddChild = true);
 
    virtual ccOctree::Shared getOctree() const;
    virtual void setOctree(ccOctree::Shared octree, bool autoAddChild = true);
    virtual ccOctreeProxy* getOctreeProxy() const;
 
    virtual void deleteOctree();
 
    /***************************************************
                                    Features getters
    ***************************************************/
 
 
    virtual const ecvColor::Rgb* getScalarValueColor(ScalarType d) const = 0;
 
 
    virtual const ecvColor::Rgb* getPointScalarValueColor(
            unsigned pointIndex) const = 0;
 
 
    virtual ScalarType getPointDisplayedDistance(unsigned pointIndex) const = 0;
 
 
    virtual const ecvColor::Rgb& getPointColor(unsigned pointIndex) const = 0;
 
 
    virtual const CompressedNormType& getPointNormalIndex(
            unsigned pointIndex) const = 0;
 
 
    virtual const CCVector3& getPointNormal(unsigned pointIndex) const = 0;
 
    /***************************************************
                                    Visibility array
    ***************************************************/
 
 
    using VisibilityTableType = std::vector<unsigned char>;
 
    virtual inline VisibilityTableType& getTheVisibilityArray() {
        return m_pointsVisibility;
    }
 
    virtual inline const VisibilityTableType& getTheVisibilityArray() const {
        return m_pointsVisibility;
    }
 
 
    virtual cloudViewer::ReferenceCloud* getTheVisiblePoints(
            const VisibilityTableType* visTable = nullptr,
            bool silent = false,
            cloudViewer::ReferenceCloud* selection = nullptr) const;
 
    virtual bool isVisibilityTableInstantiated() const;
 
 
    virtual bool resetVisibilityArray();
 
    virtual void invertVisibilityArray();
 
    virtual void unallocateVisibilityArray();
 
    /***************************************************
                                    Other methods
    ***************************************************/
 
    // Inherited from ccHObject
    ccBBox getOwnBB(bool withGLFeatures = false) override;
 
    virtual void refreshBB() = 0;
 
 
    virtual ccGenericPointCloud* createNewCloudFromVisibilitySelection(
            bool removeSelectedPoints = false,
            VisibilityTableType* visTable = nullptr,
            std::vector<int>* newIndexesOfRemainingPoints = nullptr,
            bool silent = false,
            cloudViewer::ReferenceCloud* selection = nullptr) = 0;
 
 
    virtual bool removeVisiblePoints(
            VisibilityTableType* visTable = nullptr,
            std::vector<int>* newIndexes = nullptr) = 0;
 
    virtual void applyRigidTransformation(const ccGLMatrix& trans) = 0;
 
 
    virtual cloudViewer::ReferenceCloud* crop(const ccBBox& box,
                                              bool inside = true) = 0;
    virtual cloudViewer::ReferenceCloud* crop(const ecvOrientedBBox& box) = 0;
 
    virtual void removePoints(size_t index) = 0;
 
 
    virtual void scale(PointCoordinateType fx,
                       PointCoordinateType fy,
                       PointCoordinateType fz,
                       CCVector3 center = CCVector3(0, 0, 0)) = 0;
 
    // inherited from ccSerializableObject
    bool isSerializable() const override { return true; }
 
 
    void setPointSize(unsigned size = 0) {
        m_pointSize = static_cast<unsigned char>(size);
    }
 
 
    unsigned char getPointSize() const { return m_pointSize; }
 
 
    void importParametersFrom(const ccGenericPointCloud* cloud);
 
 
    bool pointPicking(const CCVector2d& clickPos,
                      const ccGLCameraParameters& camera,
                      int& nearestPointIndex,
                      double& nearestSquareDist,
                      double pickWidth = 2.0,
                      double pickHeight = 2.0,
                      bool autoComputeOctree = false);
 
    std::tuple<Eigen::Vector3d, Eigen::Matrix3d> computeMeanAndCovariance()
            const;
    cloudViewer::SquareMatrixd computeCovariance() const;
 
protected:
    // inherited from ccHObject
    bool toFile_MeOnly(QFile& out, short dataVersion) const override;
    short minimumFileVersion_MeOnly() const override;
    bool fromFile_MeOnly(QFile& in,
                         short dataVersion,
                         int flags,
                         LoadedIDMap& oldToNewIDMap) override;
 
 
    VisibilityTableType m_pointsVisibility;
 
    unsigned char m_pointSize;
};