VoxelGrid.h

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#pragma once

#include <Eigen/Core>
#include <memory>
#include <vector>

#include "Open3D/Geometry/Geometry3D.h"

namespace open3d {
namespace geometry {

class PointCloud;
class TriangleMesh;
class Octree;

class Voxel {
public:
    Voxel() {}
    Voxel(const Eigen::Vector3i &grid_index) : grid_index_(grid_index) {}
    Voxel(const Eigen::Vector3i &grid_index, const Eigen::Vector3d &color)
        : grid_index_(grid_index), color_(color) {}
    ~Voxel() {}

public:
    Eigen::Vector3i grid_index_ = Eigen::Vector3i(0, 0, 0);
    Eigen::Vector3d color_ = Eigen::Vector3d(0, 0, 0);
};

class VoxelGrid : public Geometry3D {
public:
    VoxelGrid() : Geometry3D(Geometry::GeometryType::VoxelGrid) {}
    VoxelGrid(const VoxelGrid &src_voxel_grid);
    ~VoxelGrid() override {}

public:
    void Clear() override;
    bool IsEmpty() const override;
    Eigen::Vector3d GetMinBound() const override;
    Eigen::Vector3d GetMaxBound() const override;
    VoxelGrid &Transform(const Eigen::Matrix4d &transformation) override;
    VoxelGrid &Translate(const Eigen::Vector3d &translation) override;
    VoxelGrid &Scale(const double scale, bool center = true) override;
    VoxelGrid &Rotate(const Eigen::Vector3d &rotation,
                      bool center = true,
                      RotationType type = RotationType::XYZ) 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 true;  // By default, the colors are (0, 0, 0)
    }
    Eigen::Vector3i GetVoxel(const Eigen::Vector3d &point) const;

    void FromOctree(const Octree &octree);

    std::shared_ptr<geometry::Octree> ToOctree(const size_t &max_depth) const;

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

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

}  // namespace geometry
}  // namespace open3d