Open3D (C++ API)  0.17.0
Cloud.h
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33// 0==========================0
34// | Local feature test |
35// 0==========================0
36//
37// version 1.0 :
38// >
39//
40//---------------------------------------------------
41//
42// Cloud header
43//
44//----------------------------------------------------
45//
46// Hugues THOMAS - 10/02/2017
47//
48
49#pragma once
50
51#include <time.h>
52
53#include <algorithm>
54#include <cmath>
55#include <iomanip>
56#include <iostream>
57#include <map>
58#include <numeric>
59#include <unordered_map>
60#include <vector>
61
62namespace open3d {
63namespace ml {
64namespace contrib {
65
66// Point class
67// ***********
68
69class PointXYZ {
70public:
71 // Elements
72 // ********
73
74 float x, y, z;
75
76 // Methods
77 // *******
78
79 // Constructor
80 PointXYZ() = default;
81
82 PointXYZ(float x0, float y0, float z0) {
83 x = x0;
84 y = y0;
85 z = z0;
86 }
87
88 // array type accessor
89 float operator[](int i) const {
90 if (i == 0)
91 return x;
92 else if (i == 1)
93 return y;
94 else
95 return z;
96 }
97
98 // operations
99 float dot(const PointXYZ P) const { return x * P.x + y * P.y + z * P.z; }
100
101 float sq_norm() { return x * x + y * y + z * z; }
102
103 PointXYZ cross(const PointXYZ P) const {
104 return PointXYZ(y * P.z - z * P.y, z * P.x - x * P.z,
105 x * P.y - y * P.x);
106 }
107
109 x += P.x;
110 y += P.y;
111 z += P.z;
112 return *this;
113 }
114
116 x -= P.x;
117 y -= P.y;
118 z -= P.z;
119 return *this;
120 }
121
122 PointXYZ& operator*=(const float& a) {
123 x *= a;
124 y *= a;
125 z *= a;
126 return *this;
127 }
128
129 static PointXYZ floor(const PointXYZ P) {
130 return PointXYZ(std::floor(P.x), std::floor(P.y), std::floor(P.z));
131 }
132};
133
134// Point Operations
135// *****************
136
137inline PointXYZ operator+(const PointXYZ A, const PointXYZ B) {
138 return PointXYZ(A.x + B.x, A.y + B.y, A.z + B.z);
139}
140
141inline PointXYZ operator-(const PointXYZ A, const PointXYZ B) {
142 return PointXYZ(A.x - B.x, A.y - B.y, A.z - B.z);
143}
144
145inline PointXYZ operator*(const PointXYZ P, const float a) {
146 return PointXYZ(P.x * a, P.y * a, P.z * a);
147}
148
149inline PointXYZ operator*(const float a, const PointXYZ P) {
150 return PointXYZ(P.x * a, P.y * a, P.z * a);
151}
152
153inline std::ostream& operator<<(std::ostream& os, const PointXYZ P) {
154 return os << "[" << P.x << ", " << P.y << ", " << P.z << "]";
155}
156
157inline bool operator==(const PointXYZ A, const PointXYZ B) {
158 return A.x == B.x && A.y == B.y && A.z == B.z;
159}
160
161PointXYZ max_point(std::vector<PointXYZ> points);
162PointXYZ min_point(std::vector<PointXYZ> points);
163
165 std::vector<PointXYZ> pts;
166
167 // Must return the number of data points
168 inline size_t kdtree_get_point_count() const { return pts.size(); }
169
170 // Returns the dim'th component of the idx'th point in the class:
171 // Since this is inlined and the "dim" argument is typically an immediate
172 // value, the
173 // "if/else's" are actually solved at compile time.
174 inline float kdtree_get_pt(const size_t idx, const size_t dim) const {
175 if (dim == 0)
176 return pts[idx].x;
177 else if (dim == 1)
178 return pts[idx].y;
179 else
180 return pts[idx].z;
181 }
182
183 // Optional bounding-box computation: return false to default to a standard
184 // bbox computation loop.
185 // Return true if the BBOX was already computed by the class and returned
186 // in "bb" so it can be avoided to redo it again. Look at bb.size() to
187 // find out the expected dimensionality (e.g. 2 or 3 for point clouds)
188 template <class BBOX>
189 bool kdtree_get_bbox(BBOX& /* bb */) const {
190 return false;
191 }
192};
193
194} // namespace contrib
195} // namespace ml
196} // namespace open3d
Eigen::Matrix3d B
Definition: PointCloudPlanarPatchDetection.cpp:506
Definition: Cloud.h:69
PointXYZ(float x0, float y0, float z0)
Definition: Cloud.h:82
PointXYZ & operator*=(const float &a)
Definition: Cloud.h:122
float z
Definition: Cloud.h:74
PointXYZ & operator+=(const PointXYZ &P)
Definition: Cloud.h:108
float y
Definition: Cloud.h:74
PointXYZ cross(const PointXYZ P) const
Definition: Cloud.h:103
static PointXYZ floor(const PointXYZ P)
Definition: Cloud.h:129
float operator[](int i) const
Definition: Cloud.h:89
float sq_norm()
Definition: Cloud.h:101
PointXYZ & operator-=(const PointXYZ &P)
Definition: Cloud.h:115
float dot(const PointXYZ P) const
Definition: Cloud.h:99
float x
Definition: Cloud.h:74
int points
Definition: FilePCD.cpp:54
bool operator==(const PointXYZ A, const PointXYZ B)
Definition: Cloud.h:157
PointXYZ operator-(const PointXYZ A, const PointXYZ B)
Definition: Cloud.h:141
std::ostream & operator<<(std::ostream &os, const PointXYZ P)
Definition: Cloud.h:153
PointXYZ max_point(std::vector< PointXYZ > points)
Definition: Cloud.cpp:61
PointXYZ operator+(const PointXYZ A, const PointXYZ B)
Definition: Cloud.h:137
PointXYZ operator*(const PointXYZ P, const float a)
Definition: Cloud.h:145
PointXYZ min_point(std::vector< PointXYZ > points)
Definition: Cloud.cpp:77
FN_SPECIFIERS MiniVec< float, N > floor(const MiniVec< float, N > &a)
Definition: MiniVec.h:75
Definition: PinholeCameraIntrinsic.cpp:16
Definition: Cloud.h:164
bool kdtree_get_bbox(BBOX &) const
Definition: Cloud.h:189
size_t kdtree_get_point_count() const
Definition: Cloud.h:168
float kdtree_get_pt(const size_t idx, const size_t dim) const
Definition: Cloud.h:174
std::vector< PointXYZ > pts
Definition: Cloud.h:165