PointCloud.h

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

namespace open3d {

namespace camera {
class PinholeCameraIntrinsic;
}

namespace geometry {

class Image;
class RGBDImage;

class PointCloud : public Geometry3D {
public:
    PointCloud() : Geometry3D(Geometry::GeometryType::PointCloud){};
    ~PointCloud() 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:
    PointCloud &operator+=(const PointCloud &cloud);
    PointCloud operator+(const PointCloud &cloud) const;

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

    bool HasNormals() const {
        return points_.size() > 0 && normals_.size() == points_.size();
    }

    bool HasColors() const {
        return points_.size() > 0 && colors_.size() == points_.size();
    }

    void NormalizeNormals() {
        for (size_t i = 0; i < normals_.size(); i++) {
            normals_[i].normalize();
        }
    }

    void PaintUniformColor(const Eigen::Vector3d &color) {
        colors_.resize(points_.size());
        for (size_t i = 0; i < points_.size(); i++) {
            colors_[i] = color;
        }
    }

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

std::shared_ptr<PointCloud> CreatePointCloudFromDepthImage(
        const Image &depth,
        const camera::PinholeCameraIntrinsic &intrinsic,
        const Eigen::Matrix4d &extrinsic = Eigen::Matrix4d::Identity(),
        double depth_scale = 1000.0,
        double depth_trunc = 1000.0,
        int stride = 1);

std::shared_ptr<PointCloud> CreatePointCloudFromRGBDImage(
        const RGBDImage &image,
        const camera::PinholeCameraIntrinsic &intrinsic,
        const Eigen::Matrix4d &extrinsic = Eigen::Matrix4d::Identity());

std::shared_ptr<PointCloud> SelectDownSample(const PointCloud &input,
                                             const std::vector<size_t> &indices,
                                             bool invert = false);

std::shared_ptr<PointCloud> VoxelDownSample(const PointCloud &input,
                                            double voxel_size);

std::tuple<std::shared_ptr<PointCloud>, Eigen::MatrixXi>
VoxelDownSampleAndTrace(const PointCloud &input,
                        double voxel_size,
                        const Eigen::Vector3d &min_bound,
                        const Eigen::Vector3d &max_bound,
                        bool approximate_class = false);

std::shared_ptr<PointCloud> UniformDownSample(const PointCloud &input,
                                              size_t every_k_points);

std::shared_ptr<PointCloud> CropPointCloud(const PointCloud &input,
                                           const Eigen::Vector3d &min_bound,
                                           const Eigen::Vector3d &max_bound);

std::tuple<std::shared_ptr<PointCloud>, std::vector<size_t>>
RemoveRadiusOutliers(const PointCloud &input,
                     size_t nb_points,
                     double search_radius);

std::tuple<std::shared_ptr<PointCloud>, std::vector<size_t>>
RemoveStatisticalOutliers(const PointCloud &input,
                          size_t nb_neighbors,
                          double std_ratio);

bool EstimateNormals(
        PointCloud &cloud,
        const KDTreeSearchParam &search_param = KDTreeSearchParamKNN());

bool OrientNormalsToAlignWithDirection(
        PointCloud &cloud,
        const Eigen::Vector3d &orientation_reference = Eigen::Vector3d(0.0,
                                                                       0.0,
                                                                       1.0));

bool OrientNormalsTowardsCameraLocation(
        PointCloud &cloud,
        const Eigen::Vector3d &camera_location = Eigen::Vector3d::Zero());

std::vector<double> ComputePointCloudToPointCloudDistance(
        const PointCloud &source, const PointCloud &target);

std::tuple<Eigen::Vector3d, Eigen::Matrix3d> ComputePointCloudMeanAndCovariance(
        const PointCloud &input);

std::vector<double> ComputePointCloudMahalanobisDistance(
        const PointCloud &input);

std::vector<double> ComputePointCloudNearestNeighborDistance(
        const PointCloud &input);

}  // namespace geometry
}  // namespace open3d