PointCloud.hpp

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#ifndef MEDUSA_BITS_SPATIAL_SEARCH_POINTCLOUD_HPP_
#define MEDUSA_BITS_SPATIAL_SEARCH_POINTCLOUD_HPP_
 
#include <vector>
 
namespace mm {
 
namespace kdtree_internal {
 
template <typename vec_t>
struct PointCloud {
    std::vector<vec_t> pts;  
 
    PointCloud() = default;
 
    PointCloud(const std::vector<vec_t>& pts) : pts(pts) {}
 
    void setPts(const std::vector<vec_t>& pts) {
        PointCloud::pts = pts;
    }
 
    inline int kdtree_get_point_count() const { return pts.size(); }
 
    inline typename vec_t::scalar_t kdtree_get_pt(const size_t idx, int dim) const {
        return pts[idx][dim];
    }
 
    inline vec_t get(const size_t idx) const { return pts[idx]; }
 
    inline void add(const vec_t& p) { pts.push_back(p); }
 
    template <class BBOX>
    bool kdtree_get_bbox(BBOX& /* bb */) const { return false; }
};
 
}  // namespace kdtree_internal
}  // namespace mm
 
#endif  // MEDUSA_BITS_SPATIAL_SEARCH_POINTCLOUD_HPP_