TriangleMesh.h

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#pragma once

#include "open3d/core/Tensor.h"
#include "open3d/core/TensorCheck.h"
#include "open3d/geometry/TriangleMesh.h"
#include "open3d/t/geometry/DrawableGeometry.h"
#include "open3d/t/geometry/Geometry.h"
#include "open3d/t/geometry/TensorMap.h"

namespace open3d {
namespace t {
namespace geometry {

class TriangleMesh : public Geometry, public DrawableGeometry {
public:
    TriangleMesh(const core::Device &device = core::Device("CPU:0"));

    TriangleMesh(const core::Tensor &vertex_positions,
                 const core::Tensor &triangle_indices);

    virtual ~TriangleMesh() override {}

public:
    std::string ToString() const;

    TriangleMesh To(const core::Device &device, bool copy = false) const;

    TriangleMesh Clone() const { return To(GetDevice(), /*copy=*/true); }

    const TensorMap &GetVertexAttr() const { return vertex_attr_; }

    core::Tensor &GetVertexAttr(const std::string &key) {
        return vertex_attr_.at(key);
    }

    core::Tensor &GetVertexPositions() { return GetVertexAttr("positions"); }

    core::Tensor &GetVertexColors() { return GetVertexAttr("colors"); }

    core::Tensor &GetVertexNormals() { return GetVertexAttr("normals"); }

    const TensorMap &GetTriangleAttr() const { return triangle_attr_; }

    core::Tensor &GetTriangleAttr(const std::string &key) {
        return triangle_attr_.at(key);
    }

    core::Tensor &GetTriangleIndices() { return GetTriangleAttr("indices"); }

    core::Tensor &GetTriangleNormals() { return GetTriangleAttr("normals"); }

    core::Tensor &GetTriangleColors() { return GetTriangleAttr("colors"); }

    const core::Tensor &GetVertexAttr(const std::string &key) const {
        return vertex_attr_.at(key);
    }

    void RemoveVertexAttr(const std::string &key) { vertex_attr_.Erase(key); }

    const core::Tensor &GetVertexPositions() const {
        return GetVertexAttr("positions");
    }

    const core::Tensor &GetVertexColors() const {
        return GetVertexAttr("colors");
    }

    const core::Tensor &GetVertexNormals() const {
        return GetVertexAttr("normals");
    }

    const core::Tensor &GetTriangleAttr(const std::string &key) const {
        return triangle_attr_.at(key);
    }

    void RemoveTriangleAttr(const std::string &key) {
        triangle_attr_.Erase(key);
    }

    const core::Tensor &GetTriangleIndices() const {
        return GetTriangleAttr("indices");
    }

    const core::Tensor &GetTriangleNormals() const {
        return GetTriangleAttr("normals");
    }

    const core::Tensor &GetTriangleColors() const {
        return GetTriangleAttr("colors");
    }

    void SetVertexAttr(const std::string &key, const core::Tensor &value) {
        core::AssertTensorDevice(value, device_);
        vertex_attr_[key] = value;
    }

    void SetVertexPositions(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetVertexAttr("positions", value);
    }

    void SetVertexColors(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetVertexAttr("colors", value);
    }

    void SetVertexNormals(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetVertexAttr("normals", value);
    }

    void SetTriangleAttr(const std::string &key, const core::Tensor &value) {
        core::AssertTensorDevice(value, device_);
        triangle_attr_[key] = value;
    }

    void SetTriangleIndices(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetTriangleAttr("indices", value);
    }

    void SetTriangleNormals(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetTriangleAttr("normals", value);
    }

    void SetTriangleColors(const core::Tensor &value) {
        core::AssertTensorShape(value, {utility::nullopt, 3});
        SetTriangleAttr("colors", value);
    }

    bool HasVertexAttr(const std::string &key) const {
        return vertex_attr_.Contains(key) &&
               GetVertexAttr(key).GetLength() > 0 &&
               GetVertexAttr(key).GetLength() ==
                       GetVertexPositions().GetLength();
    }

    bool HasVertexPositions() const { return HasVertexAttr("positions"); }

    bool HasVertexColors() const { return HasVertexAttr("colors"); }

    bool HasVertexNormals() const { return HasVertexAttr("normals"); }

    bool HasTriangleAttr(const std::string &key) const {
        return triangle_attr_.Contains(key) &&
               GetTriangleAttr(key).GetLength() > 0 &&
               GetTriangleAttr(key).GetLength() ==
                       GetTriangleIndices().GetLength();
    }

    bool HasTriangleIndices() const { return HasTriangleAttr("indices"); }

    bool HasTriangleNormals() const { return HasTriangleAttr("normals"); }

    bool HasTriangleColors() const { return HasTriangleAttr("colors"); }

public:
    TriangleMesh &Clear() override {
        vertex_attr_.clear();
        triangle_attr_.clear();
        return *this;
    }

    bool IsEmpty() const override { return !HasVertexPositions(); }

    core::Tensor GetMinBound() const { return GetVertexPositions().Min({0}); }

    core::Tensor GetMaxBound() const { return GetVertexPositions().Max({0}); }

    core::Tensor GetCenter() const { return GetVertexPositions().Mean({0}); }

    TriangleMesh &Transform(const core::Tensor &transformation);

    TriangleMesh &Translate(const core::Tensor &translation,
                            bool relative = true);

    TriangleMesh &Scale(double scale, const core::Tensor &center);

    TriangleMesh &Rotate(const core::Tensor &R, const core::Tensor &center);

    core::Device GetDevice() const { return device_; }

    static geometry::TriangleMesh FromLegacy(
            const open3d::geometry::TriangleMesh &mesh_legacy,
            core::Dtype float_dtype = core::Float32,
            core::Dtype int_dtype = core::Int64,
            const core::Device &device = core::Device("CPU:0"));

    open3d::geometry::TriangleMesh ToLegacy() const;

protected:
    core::Device device_ = core::Device("CPU:0");
    TensorMap vertex_attr_;
    TensorMap triangle_attr_;
};

}  // namespace geometry
}  // namespace t
}  // namespace open3d