PublicProjectLibrary/include/pcl/point3D_tool.h

//
// Created by huli on 2021/3/24.
//

#ifndef NNXX_TESTS_POINT3D_TOOL_H
#define NNXX_TESTS_POINT3D_TOOL_H

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <vector>
#include <opencv4/opencv2/opencv.hpp>
#include "log/log.h"

class Point3D_tool
{
public:
    static bool WriteTxtCloud(const std::string &file, pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud);

    static bool WriteTxtCloud(const std::string &file, pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud);

    static bool ReadTxtCloud(const std::string &file, pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud);

	template <typename PclPoint>
	static int getMinRect(cv::RotatedRect &rect, pcl::shared_ptr<pcl::PointCloud<PclPoint>> &clouds);

	// template <typename PclPoint>
	// static int getMinRect(cv::RotatedRect &rect, pcl::shared_ptr<pcl::PointCloud<PclPoint>> &points) {
	static int getRectCloud(cv::RotatedRect &rect, pcl::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> &points, float z_value = 0, int numbers = 100);

	template <typename PclPoint>
	static int getRectCloud(pcl::shared_ptr<pcl::PointCloud<PclPoint>> &clouds, pcl::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> &points, float z_value = 0, int numbers = 100);

	static void getRectWidthlength(cv::RotatedRect &rect, double &width, double &length);

private:
    static bool string2PointXYZ(const std::string &str, pcl::PointXYZ &point) {
        std::istringstream iss;
        iss.str(str);
        float value;
        float data[3];
        for (int i = 0; i < 3; ++i) {
            if (iss >> value) {
                data[i] = value;
            } else {
                return false;
            }
        }
        point.x = data[0];
        point.y = data[1];
        point.z = data[2];
        return true;
    }
};


#endif //NNXX_TESTS_POINT3D_TOOL_H