Differential D4501 Diff 14173 extern/draco/dracoenc/src/draco/compression/point_cloud/algorithms/point_cloud_types.h

Changeset View

Standalone View

extern/draco/dracoenc/src/draco/compression/point_cloud/algorithms/point_cloud_types.h

This file was added.

				// Copyright 2016 The Draco Authors.
				//
				// Licensed under the Apache License, Version 2.0 (the "License");
				// you may not use this file except in compliance with the License.
				// You may obtain a copy of the License at
				//
				// http://www.apache.org/licenses/LICENSE-2.0
				//
				// Unless required by applicable law or agreed to in writing, software
				// distributed under the License is distributed on an "AS IS" BASIS,
				// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
				// See the License for the specific language governing permissions and
				// limitations under the License.
				//
				#ifndef DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_POINT_CLOUD_TYPES_H_
				#define DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_POINT_CLOUD_TYPES_H_

				#include <inttypes.h>
				#include <vector>

				#include "draco/core/vector_d.h"

				namespace draco {

				// Using Eigen as this is favored by project Cartographer.
				typedef Vector3f Point3f;
				typedef Vector4f Point4f;
				typedef Vector3ui Point3ui;
				typedef Vector4ui Point4ui;
				typedef Vector5ui Point5ui;
				typedef Vector6ui Point6ui;
				typedef Vector7ui Point7ui;

				typedef std::vector<Point3f> PointCloud3f;

				template <class PointDT>
				struct PointDLess;

				template <class CoeffT, int dimension_t>
				struct PointDLess<VectorD<CoeffT, dimension_t>> {
				bool operator()(const VectorD<CoeffT, dimension_t> &a,
				const VectorD<CoeffT, dimension_t> &b) const {
				return a < b;
				}
				};

				template <class PointDT>
				class PointTraits {};

				template <class CoordinateTypeT, int dimension_t>
				class PointTraits<VectorD<CoordinateTypeT, dimension_t>> {
				public:
				typedef VectorD<CoordinateTypeT, dimension_t> PointD;
				typedef CoordinateTypeT CoordinateType;

				static constexpr uint32_t Dimension() { return dimension_t; }
				static PointD Origin() {
				PointD origin;
				for (uint32_t i = 0; i < dimension_t; i++) {
				origin(i) = 0;
				}
				return origin;
				}
				static std::array<uint32_t, dimension_t> ZeroArray() {
				std::array<uint32_t, dimension_t> zero;
				for (uint32_t i = 0; i < dimension_t; i++) {
				zero[i] = 0;
				}
				return zero;
				}
				};

				} // namespace draco

				#endif // DRACO_COMPRESSION_POINT_CLOUD_ALGORITHMS_POINT_CLOUD_TYPES_H_