PointBuffer.hpp

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#ifndef POINTBUFFER2_HPP
#define POINTBUFFER2_HPP
 
#include "lvr2/io/DataStruct.hpp"
#include "lvr2/types/BaseBuffer.hpp"
 
#include <map>
#include <string>
 
#include <boost/shared_array.hpp>
#include <iostream>
 
namespace lvr2
{
 
class PointBuffer : public BaseBuffer
{
    using base = BaseBuffer;
public:    
    PointBuffer();
 
    /***
     * @brief Constructs a point buffer with point the given number
     *        of point.
     *
     * @param points    An array containing point data (x,y,z).
     * @param n         Number of points
     */
    PointBuffer(floatArr points, size_t n);
 
    /***
     * @brief Constructs a point buffer with point and normal
     *        information. Both arrays are exspected to have the same
     *        length.
     *
     * @param points    An array containing point data (x,y,z).
     * @param normals   An array containing normal information (nx, ny, nz)
     * @param n         Number of points
     */
    PointBuffer(floatArr points, floatArr normals, size_t n);
 
    /***
     * @brief Adds points to the buffer. If the buffer already
     *        contains point cloud data, the interal buffer will
     *        be freed als well as all other attribute channels.
     */
    void setPointArray(floatArr points, size_t n);
 
    /***
     * @brief Adds an channel containing point normal data to the
     *        buffer.
     *
     * @param   normals A float array containing the normal data.
     *                  expected to be tuples (nx, ny, nz).
     */
    void setNormalArray(floatArr normals, size_t n);
 
    /***
     * @brief Generates and adds a channel for point color data
     *
     * @param   colors  Am array containing point cloud data
     * @param   n       Number of colors in the buffer
     * @param   width   Number of attributes per element. Normally
     *                  3 for RGB and 4 for RGBA buffers.
     */
    void setColorArray(ucharArr colors, size_t n, size_t width = 3);
 
    floatArr getPointArray();
 
    floatArr getNormalArray();
 
    ucharArr getColorArray(size_t& w);
 
    bool hasColors() const;
 
    bool hasNormals() const;
 
    size_t numPoints() const;
 
    PointBuffer clone() const;
 
};
 
using PointBufferPtr = std::shared_ptr<PointBuffer>;
 
} // namespace lvr2
 
#endif // POINTBUFFER2_HPP