pointcloud.h

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//
// pointcloud.h
//     Classes and functions for 3D points and clouds thereof.
//
// Author:  Jens Wilberg, Lukas Aymans, Christoph Dalitz
// Date:    2018-08-30
// License: see ../LICENSE
//
 
#ifndef POINTCLOUD_H
#define POINTCLOUD_H
#include <algorithm>
#include <cstddef>
#include <fstream>
#include <set>
#include <vector>
// 3D point class.
class Point {
public:
   double x;
   double y;
   double z;
   int id;
   std::set<size_t> cluster_ids;
 
   Point(){};
   Point(const std::vector<double> &point);
   Point(const std::vector<double> &point, const std::set<size_t> &cluster_ids);
   Point(double x, double y, double z);
   Point(double x, double y, double z, const std::set<size_t> &cluster_ids);
 
   // representation of 3D point as std::vector
   std::vector<double> as_vector() const;
   // Euclidean norm
   double norm() const;
   // squared norm
   double squared_norm() const;
 
   inline void SetID(int pid) { id = pid; }
   inline int GetID() const { return id; }
 
   friend std::ostream &operator<<(std::ostream &os, const Point &p);
   bool operator==(const Point &p) const;
   Point &operator=(const Point &other);
   // vector addition
   Point operator+(const Point &p) const;
   // vector subtraction
   Point operator-(const Point &p) const;
   // scalar product
   double operator*(const Point &p) const;
   // scalar division
   Point operator/(double c) const;
};
 
// scalar multiplication
Point operator*(Point x, double c);
Point operator*(double c, Point x);
 
// The Pointcloud is a vector of points
class PointCloud : public std::vector<Point> {
private:
   bool points2d;
 
public:
   bool is2d() const;
   void set2d(bool is2d);
   PointCloud();
};
 
// Load csv file.
void load_csv_file(const char *fname, PointCloud &cloud, const char delimiter, size_t skip = 0);
// Smoothing of the PointCloud *cloud*. The result is returned in *result_cloud*
void smoothen_cloud(const PointCloud &cloud, PointCloud &result_cloud, double radius);
 
#endif