LineSet.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <memory>
#include <vector>
 
#include "open3d/geometry/Geometry3D.h"
 
namespace open3d {
namespace geometry {
 
class PointCloud;
class OrientedBoundingEllipsoid;
class OrientedBoundingBox;
class AxisAlignedBoundingBox;
class TriangleMesh;
class TetraMesh;
 
class LineSet : public Geometry3D {
public:
    LineSet() : Geometry3D(Geometry::GeometryType::LineSet) {}
    LineSet(const std::vector<Eigen::Vector3d> &points,
            const std::vector<Eigen::Vector2i> &lines)
        : Geometry3D(Geometry::GeometryType::LineSet),
          points_(points),
          lines_(lines) {}
    ~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(
            bool robust = false) const override;
 
    OrientedBoundingBox GetMinimalOrientedBoundingBox(
            bool robust = false) const override;
 
    LineSet &Transform(const Eigen::Matrix4d &transformation) override;
    LineSet &Translate(const Eigen::Vector3d &translation,
                       bool relative = true) override;
    LineSet &Scale(const double scale, const Eigen::Vector3d &center) override;
    LineSet &Rotate(const Eigen::Matrix3d &R,
                    const Eigen::Vector3d &center) 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> CreateFromOrientedBoundingEllipsoid(
            const OrientedBoundingEllipsoid &ellipsoid);
 
    static std::shared_ptr<LineSet> CreateFromTriangleMesh(
            const TriangleMesh &mesh);
 
    static std::shared_ptr<LineSet> CreateFromTetraMesh(const TetraMesh &mesh);
 
    static std::shared_ptr<LineSet> CreateCameraVisualization(
            int view_width_px,
            int view_height_px,
            const Eigen::Matrix3d &intrinsic,
            const Eigen::Matrix4d &extrinsic,
            double scale = 1.0);
 
public:
    std::vector<Eigen::Vector3d> points_;
    std::vector<Eigen::Vector2i> lines_;
    std::vector<Eigen::Vector3d> colors_;
};
 
}  // namespace geometry
}  // namespace open3d