pointcloud

type BasicOctree struct {
	// contains filtered or unexported fields
}

type CloudAndOffsetFunc func(context context.Context) (PointCloud, spatialmath.Pose, error)

type CloudMatrixCol int

type Data interface {
	// HasColor returns whether or not this point is colored.
	HasColor() bool

	// RGB255 returns, if colored, the RGB components of the color. There
	// is no alpha channel right now and as such the data can be assumed to be
	// premultiplied.
	RGB255() (uint8, uint8, uint8)

	// Color returns the native color of the point.
	Color() color.Color

	// SetColor sets the given color on the point.
	// Note(erd): we should try to remove this in favor of immutability.
	SetColor(c color.NRGBA) Data

	// HasValue returns whether or not this point has some user data value
	// associated with it.
	HasValue() bool

	// Value returns the user data set value, if it exists.
	Value() int

	// SetValue sets the given user data value on the point.
	// Note(erd): we should try to remove this in favor of immutability.
	SetValue(v int) Data

	// Intensity returns the intensity value, or 0 if it doesn't exist
	Intensity() uint16

	// SetIntensity sets the intensity on the point.
	SetIntensity(v uint16) Data
}

type KDTree struct {
	// contains filtered or unexported fields
}

type MetaData struct {
	HasColor bool
	HasValue bool

	MinX, MaxX float64
	MinY, MaxY float64
	MinZ, MaxZ float64
	// contains filtered or unexported fields
}

type NodeType uint8

type PCDType int

type Plane interface {
	Equation() [4]float64                  // Returns an array of the plane equation [0]x + [1]y + [2]z + [3] = 0.
	Normal() r3.Vector                     // The normal vector of the plane, could point "up" or "down".
	Center() r3.Vector                     // The center point of the plane (the planes are not infinite).
	Offset() float64                       //  the [3] term in the equation of the plane.
	PointCloud() (PointCloud, error)       // Returns the underlying pointcloud that makes up the plane.
	Distance(p r3.Vector) float64          // The distance of a point p from the nearest point on the plane.
	Intersect(p0, p1 r3.Vector) *r3.Vector // The intersection point of the plane with line defined by p0,p1. return nil if parallel.
}

type PointAndData struct {
	P r3.Vector
	D Data
}

type PointCloud interface {
	// Size returns the number of points in the cloud.
	Size() int

	// MetaData returns meta data
	MetaData() MetaData

	// Set places the given point in the cloud.
	Set(p r3.Vector, d Data) error

	// At returns the point in the cloud at the given position.
	// The 2nd return is if the point exists, the first is data if any.
	At(x, y, z float64) (Data, bool)

	// Iterate iterates over all points in the cloud and calls the given
	// function for each point. If the supplied function returns false,
	// iteration will stop after the function returns.
	// numBatches lets you divide up he work. 0 means don't divide
	// myBatch is used iff numBatches > 0 and is which batch you want
	Iterate(numBatches, myBatch int, fn func(p r3.Vector, d Data) bool)

	// FinalizeAfterReading is called after a pc is done being read
	// often this is a noop
	FinalizeAfterReading() (PointCloud, error)

	CreateNewRecentered(offset spatialmath.Pose) PointCloud
}

type TypeConfig struct {
	StructureType string
	NewWithParams func(size int) PointCloud
}

type Vectors []r3.Vector

type Voxel struct {
	Key             VoxelCoords
	Label           int
	Points          map[r3.Vector]Data
	Center          r3.Vector
	Normal          r3.Vector
	Offset          float64
	Residual        float64
	Weight          float64
	SortedWeightIdx int
	PointLabels     []int
}

type VoxelCoords struct {
	I, J, K int64
}

type VoxelGrid struct {
	Voxels map[VoxelCoords]*Voxel
	// contains filtered or unexported fields
}

type VoxelSlice []*Voxel