VoxelGrid.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 TriangleMesh;

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

public:
    bool HasVoxels() const { return voxels_.size() > 0; }

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

public:
    double voxel_size_;
    Eigen::Vector3d origin_;
    std::vector<Eigen::Vector3i> voxels_;
    std::vector<Eigen::Vector3d> colors_;
};

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

}  // namespace geometry
}  // namespace open3d