msh3PointCloud.h

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//    Copyright (c) 2014, Seth Billings, Russell Taylor, Johns Hopkins University
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#ifndef _msh3PointCloud_h
#define _msh3PointCloud_h
 
#include <cisstMesh/msh3Mesh.h>
 
#if CISST_MSH_HAS_RPLY
#include <ply_io.h>
#endif
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh3PointCloud
{
 
 private:
 
#if CISST_MSH_HAS_RPLY
    ply_io ply_obj;
#endif
 
 public:
 
    //--- Variables ---//
 
    vctDynamicVector<vct3> points;
 
    // optional point cloud properties
    // point orientations
    vctDynamicVector<vct3> pointOrientations;
    // positional noise model
    vctDynamicVector<vct3x3>  pointCov;       // covariance of measurement noise
    vctDynamicVector<vct3>    pointCovEig;    // eigenvalues of covariance
 
 
    //--- Methods ---//
 
    // constructors
    msh3PointCloud() {};
 
    msh3PointCloud(vctDynamicVector<vct3> &points);
 
    msh3PointCloud(vctDynamicVector<vct3> &points,
                   vctDynamicVector<vct3> &pointOrientations);
 
    // build point cloud from a mesh by choosing the centerpoint
    // from each mesh triangle as a point in the cloud; also
    // the noise model of each mesh triangle is copied as the
    // noise model for each point in the point cloud
    msh3PointCloud(msh3Mesh &mesh);
 
    // build point cloud from a mesh by choosing the centerpoint
    // from each mesh triangle as a point in the cloud; the
    // noise model of the point cloud is initialized such that
    // the variance along the point orientation is as specified
    // and the variance perpendicular to the point orientation
    // is equal to the variance of the distance from the
    // center of each triangle to its 3 vertices
    msh3PointCloud(msh3Mesh &mesh, double noisePerpPlaneSD);
 
 
    // initializes all point cloud properties to empty (default initializer);
    //  this is a useful routine to use while building a point cloud,
    //  since some point cloud properties are optional and may not be
    //  initialized by the data used to build the point cloud; calling this
    //  ensures that unused properties are emptied rather than left with
    //  possibly invalid values
    void ResetPointCloud();
 
    // initializes point cloud noise model to zero (default initializer)
    void InitializeNoiseModel();
 
 
    // I/O
    // Point Set I/O
    void LoadPLY(const std::string &input_file);
    void SavePLY(const std::string &output_file);
 
    // save point cloud noise model covariance matrices to file
    void SavePointCloudCov(std::string &file);
 
    // methods for writing / reading point cloud objects to / from a file
    int WritePointCloudToFile(std::string &filePath);
    int ReadPointCloudFromFile(std::string &filePath);
    int AppendPointCloudFromFile(std::string &filePath);
 
    // static methods for writing / reading point cloud points and
    // optionall point orientations to / from file without
    // referencing a point cloud object
 
    static int WritePointCloudToFile(std::string &filePath,
                                     vctDynamicVector<vct3> &points,
                                     vctDynamicVector<vct3> &orientaitons);
 
    static int ReadPointCloudFromFile(std::string &filePath,
                                      vctDynamicVector<vct3> &points,
                                      vctDynamicVector<vct3> &orientaitons);
 
    static int AppendPointCloudFromFile(std::string &filePath,
                                        vctDynamicVector<vct3> &points,
                                        vctDynamicVector<vct3> &orientaitons);
 
 
    static int WritePointCloudToFile(std::string &filePath,
                                     vctDynamicVector<vct3> &points);
 
    static int ReadPointCloudFromFile(std::string &filePath,
                                      vctDynamicVector<vct3> &points);
 
    static int AppendPointCloudFromFile(std::string &filePath,
                                        vctDynamicVector<vct3> &points);
 
};
 
#endif