LineSet.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#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(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() 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> 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