78 lines
2.0 KiB
C++
78 lines
2.0 KiB
C++
#ifndef CLOUD_VIEW_3D_TYPES_H
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#define CLOUD_VIEW_3D_TYPES_H
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#include <cstddef>
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#include <cstdint>
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#include <vector>
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struct Point3D
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{
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float x, y, z; // millimetres
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Point3D() : x(0), y(0), z(0) {}
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Point3D(float _x, float _y, float _z) : x(_x), y(_y), z(_z) {}
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};
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struct Point3DRGB
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{
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float x, y, z; // millimetres
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uint8_t r, g, b;
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float pointSize;
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Point3DRGB() : x(0), y(0), z(0), r(255), g(255), b(255), pointSize(0) {}
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Point3DRGB(float _x,
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float _y,
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float _z,
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uint8_t _r = 255,
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uint8_t _g = 255,
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uint8_t _b = 255,
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float _ps = 0)
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: x(_x), y(_y), z(_z), r(_r), g(_g), b(_b), pointSize(_ps) {}
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};
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template<typename PointT>
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class SimplePointCloud
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{
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public:
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std::vector<PointT> points;
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std::vector<int> lineIndices;
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// Each point's original position within its scan line (-1 when unknown).
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std::vector<int> pointInLineIndices;
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void clear()
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{
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points.clear();
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lineIndices.clear();
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pointInLineIndices.clear();
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}
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size_t size() const { return points.size(); }
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bool empty() const { return points.empty(); }
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void reserve(size_t n)
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{
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points.reserve(n);
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lineIndices.reserve(n);
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pointInLineIndices.reserve(n);
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}
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void push_back(const PointT& pt)
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{
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points.push_back(pt);
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pointInLineIndices.push_back(-1);
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}
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void push_back(const PointT& pt, int lineIdx)
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{
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points.push_back(pt);
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lineIndices.push_back(lineIdx);
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pointInLineIndices.push_back(-1);
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}
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void push_back(const PointT& pt, int lineIdx, int pointInLineIdx)
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{
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points.push_back(pt);
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lineIndices.push_back(lineIdx);
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pointInLineIndices.push_back(pointInLineIdx);
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}
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};
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using PointCloudXYZ = SimplePointCloud<Point3D>;
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using PointCloudXYZRGB = SimplePointCloud<Point3DRGB>;
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#endif // CLOUD_VIEW_3D_TYPES_H
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