Utils/CloudView3D/Inc/CloudView3DTypes.h

#ifndef CLOUD_VIEW_3D_TYPES_H
#define CLOUD_VIEW_3D_TYPES_H

#include <cstddef>
#include <cstdint>
#include <vector>

struct Point3D
{
    float x, y, z; // millimetres
    Point3D() : x(0), y(0), z(0) {}
    Point3D(float _x, float _y, float _z) : x(_x), y(_y), z(_z) {}
};

struct Point3DRGB
{
    float x, y, z; // millimetres
    uint8_t r, g, b;
    float pointSize;

    Point3DRGB() : x(0), y(0), z(0), r(255), g(255), b(255), pointSize(0) {}
    Point3DRGB(float _x,
               float _y,
               float _z,
               uint8_t _r = 255,
               uint8_t _g = 255,
               uint8_t _b = 255,
               float _ps = 0)
        : x(_x), y(_y), z(_z), r(_r), g(_g), b(_b), pointSize(_ps) {}
};

template<typename PointT>
class SimplePointCloud
{
public:
    std::vector<PointT> points;
    std::vector<int> lineIndices;
    // Each point's original position within its scan line (-1 when unknown).
    std::vector<int> pointInLineIndices;

    void clear()
    {
        points.clear();
        lineIndices.clear();
        pointInLineIndices.clear();
    }
    size_t size() const { return points.size(); }
    bool empty() const { return points.empty(); }
    void reserve(size_t n)
    {
        points.reserve(n);
        lineIndices.reserve(n);
        pointInLineIndices.reserve(n);
    }
    void push_back(const PointT& pt)
    {
        points.push_back(pt);
        pointInLineIndices.push_back(-1);
    }
    void push_back(const PointT& pt, int lineIdx)
    {
        points.push_back(pt);
        lineIndices.push_back(lineIdx);
        pointInLineIndices.push_back(-1);
    }
    void push_back(const PointT& pt, int lineIdx, int pointInLineIdx)
    {
        points.push_back(pt);
        lineIndices.push_back(lineIdx);
        pointInLineIndices.push_back(pointInLineIdx);
    }
};

using PointCloudXYZ = SimplePointCloud<Point3D>;
using PointCloudXYZRGB = SimplePointCloud<Point3DRGB>;

#endif // CLOUD_VIEW_3D_TYPES_H