PointCloud.h

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// -                        Open3D: www.open3d.org                            -
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// The MIT License (MIT)
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// Copyright (c) 2018 www.open3d.org
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#pragma once

#include <Eigen/Core>
#include <string>
#include <unordered_map>
#include <unordered_set>

#include "open3d/core/Tensor.h"
#include "open3d/core/TensorList.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/t/geometry/Geometry.h"
#include "open3d/t/geometry/TensorListMap.h"

namespace open3d {
namespace t {
namespace geometry {

class PointCloud : public Geometry {
public:
    PointCloud(core::Dtype dtype = core::Dtype::Float32,
               const core::Device &device = core::Device("CPU:0"));

    PointCloud(const core::TensorList &points);

    PointCloud(const std::unordered_map<std::string, core::TensorList>
                       &map_keys_to_tensorlists);

    virtual ~PointCloud() override {}

    const TensorListMap &GetPointAttrPybind() const { return point_attr_; }

    void SetPointAttrPybind(const TensorListMap &point_attr) {
        point_attr_ = point_attr;
    };

    core::TensorList &GetPointAttr(const std::string &key) {
        return point_attr_.at(key);
    }

    core::TensorList &GetPoints() { return GetPointAttr("points"); }

    core::TensorList &GetPointColors() { return GetPointAttr("colors"); }

    core::TensorList &GetPointNormals() { return GetPointAttr("normals"); }

    const core::TensorList &GetPointAttr(const std::string &key) const {
        return point_attr_.at(key);
    }

    const core::TensorList &GetPoints() const { return GetPointAttr("points"); }

    const core::TensorList &GetPointColors() const {
        return GetPointAttr("colors");
    }

    const core::TensorList &GetPointNormals() const {
        return GetPointAttr("normals");
    }

    void SetPointAttr(const std::string &key, const core::TensorList &value) {
        value.AssertDevice(device_);
        point_attr_[key] = value;
    }

    void SetPoints(const core::TensorList &value) {
        value.AssertElementShape({3});
        SetPointAttr("points", value);
    }

    void SetPointColors(const core::TensorList &value) {
        value.AssertElementShape({3});
        SetPointAttr("colors", value);
    }

    void SetPointNormals(const core::TensorList &value) {
        value.AssertElementShape({3});
        SetPointAttr("normals", value);
    }

    bool HasPointAttr(const std::string &key) const {
        return point_attr_.Contains(key) && GetPointAttr(key).GetSize() > 0 &&
               GetPointAttr(key).GetSize() == GetPoints().GetSize();
    }

    bool HasPoints() const { return HasPointAttr("points"); }

    bool HasPointColors() const { return HasPointAttr("colors"); }

    bool HasPointNormals() const { return HasPointAttr("normals"); }

    void SynchronizedPushBack(
            const std::unordered_map<std::string, core::Tensor>
                    &map_keys_to_tensors) {
        point_attr_.SynchronizedPushBack(map_keys_to_tensors);
    }

public:
    PointCloud &Clear() override {
        point_attr_.clear();
        return *this;
    }

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

    core::Tensor GetMinBound() const;

    core::Tensor GetMaxBound() const;

    core::Tensor GetCenter() const;

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

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

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

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

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

    static geometry::PointCloud FromLegacyPointCloud(
            const open3d::geometry::PointCloud &pcd_legacy,
            core::Dtype dtype = core::Dtype::Float32,
            const core::Device &device = core::Device("CPU:0"));

    open3d::geometry::PointCloud ToLegacyPointCloud() const;

protected:
    core::Device device_ = core::Device("CPU:0");
    TensorListMap point_attr_;
};

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