LineSet.h

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#pragma once

#include <Eigen/Core>
#include <memory>
#include <vector>

#include "Open3D/Geometry/Geometry3D.h"

namespace open3d {
namespace geometry {

class PointCloud;
class OrientedBoundingBox;
class AxisAlignedBoundingBox;
class TriangleMesh;
class TetraMesh;

class LineSet : public Geometry3D {
public:
    LineSet() : Geometry3D(Geometry::GeometryType::LineSet) {}
    ~LineSet() override {}

public:
    LineSet &Clear() override;
    bool IsEmpty() const override;
    Eigen::Vector3d GetMinBound() const override;
    Eigen::Vector3d GetMaxBound() const override;
    Eigen::Vector3d GetCenter() const override;
    AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override;
    OrientedBoundingBox GetOrientedBoundingBox() const override;
    LineSet &Transform(const Eigen::Matrix4d &transformation) override;
    LineSet &Translate(const Eigen::Vector3d &translation,
                       bool relative = true) override;
    LineSet &Scale(const double scale, bool center = true) override;
    LineSet &Rotate(const Eigen::Vector3d &rotation,
                    bool center = true,
                    RotationType type = RotationType::XYZ) override;

    LineSet &operator+=(const LineSet &lineset);
    LineSet operator+(const LineSet &lineset) const;

    bool HasPoints() const { return points_.size() > 0; }

    bool HasLines() const { return HasPoints() && lines_.size() > 0; }

    bool HasColors() const {
        return HasLines() && colors_.size() == lines_.size();
    }

    std::pair<Eigen::Vector3d, Eigen::Vector3d> GetLineCoordinate(
            size_t line_index) const {
        return std::make_pair(points_[lines_[line_index][0]],
                              points_[lines_[line_index][1]]);
    }

    LineSet &PaintUniformColor(const Eigen::Vector3d &color) {
        ResizeAndPaintUniformColor(colors_, lines_.size(), color);
        return *this;
    }

    static std::shared_ptr<LineSet> CreateFromPointCloudCorrespondences(
            const PointCloud &cloud0,
            const PointCloud &cloud1,
            const std::vector<std::pair<int, int>> &correspondences);

    static std::shared_ptr<LineSet> CreateFromOrientedBoundingBox(
            const OrientedBoundingBox &box);
    static std::shared_ptr<LineSet> CreateFromAxisAlignedBoundingBox(
            const AxisAlignedBoundingBox &box);

    static std::shared_ptr<LineSet> CreateFromTriangleMesh(
            const TriangleMesh &mesh);

    static std::shared_ptr<LineSet> CreateFromTetraMesh(const TetraMesh &mesh);

public:
    std::vector<Eigen::Vector3d> points_;
    std::vector<Eigen::Vector2i> lines_;
    std::vector<Eigen::Vector3d> colors_;
};

}  // namespace geometry
}  // namespace open3d