point-cloud.hpp

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#ifndef OPENEV_REPRESENTATIONS_POINT_CLOUD_HPP
#define OPENEV_REPRESENTATIONS_POINT_CLOUD_HPP
 
#include "openev/core/types.hpp"
#include "openev/options.hpp"
#include "openev/representations/abstract-representation.hpp"
#include <array>
#include <iterator>
#include <opencv2/core/hal/interface.h>
#include <opencv2/core/matx.hpp>
#include <opencv2/core/types.hpp>
#include <opencv2/viz/viz3d.hpp>
#include <string>
#include <vector>
 
namespace cv {
class Mat;
} // namespace cv
 
namespace ev {
template <typename T>
class Event_;

template <typename T, const RepresentationOptions Options = RepresentationOptions::NONE, typename E = int>
class PointCloud_ : public AbstractRepresentation_<T, Options, E> {
public:
  [[nodiscard]] inline bool contains(const Event_<E> &e) const {
    return std::find(points_[e.p].begin(), points_[e.p].end(), cv::Point3f(e.x, e.y, e.t)) != points_[e.p].end();
  }

  void visualize(const int t, const double time_scale = 1.0, const double axis_size = 1.0, const double point_size = 2.0);
 
private:
  std::array<std::vector<cv::Point3_<typename TypeHelper<T>::FloatingPointType>>, 2> points_;
  cv::viz::Viz3d window_{"OpenEV"};
 
  void clear_() override;
  void clear_(const cv::Mat &background) override;
  bool insert_(const Event_<E> &e) override;
};
using PointCloud1b = PointCloud_<uchar>;     
using PointCloud3b = PointCloud_<cv::Vec3b>; 
using PointCloud1s = PointCloud_<short>;     
using PointCloud3s = PointCloud_<cv::Vec3s>; 
using PointCloud1w = PointCloud_<ushort>;    
using PointCloud3w = PointCloud_<cv::Vec3w>; 
using PointCloud1i = PointCloud_<int>;       
using PointCloud3i = PointCloud_<cv::Vec3i>; 
using PointCloud1f = PointCloud_<float>;     
using PointCloud3f = PointCloud_<cv::Vec3f>; 
using PointCloud1d = PointCloud_<double>;    
using PointCloud3d = PointCloud_<cv::Vec3d>; 
using PointCloud1 = PointCloud1b;            
using PointCloud3 = PointCloud3b;            
using PointCloud = PointCloud1;              
} // namespace ev

#include "openev/representations/point-cloud.tpp"
 
#endif // OPENEV_REPRESENTATIONS_POINT_CLOUD_HPP