LineSet.h

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#pragma once

#include <vector>
#include <memory>
#include <Eigen/Core>
#include <Open3D/Geometry/Geometry3D.h>

namespace open3d {
namespace geometry {

class PointCloud;

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

public:
    void Clear() override;
    bool IsEmpty() const override;
    Eigen::Vector3d GetMinBound() const override;
    Eigen::Vector3d GetMaxBound() const override;
    void Transform(const Eigen::Matrix4d &transformation) override;

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

public:
    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]]);
    }

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

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

}  // namespace geometry
}  // namespace open3d