PointCloud.hpp

#ifndef POINTS_H
#define POINTS_H



#include <Eigen/Core>
#include <Eigen/Geometry>
#include <vector>

class PointCloud
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  
  PointCloud();
  PointCloud(double PointSize);
  
  void push_back(Eigen::Vector3d point);
  
  void clear() 
  { 
    m_AllPoints.clear(); 
  }
  
  unsigned int size() 
  { 
    return m_AllPoints.size(); 
  }
  
  void resize(unsigned int sz)
  {
    m_AllPoints.resize(sz);
  }
  
         Eigen::Vector3d& operator [] ( const int &i ) { return m_AllPoints[i]; }
  
  
  void drawAllPoints(double* color = NULL);
  void drawAllPoints(const Eigen::Affine3d & t,  double* color = NULL );
  
private:
  void drawOnePoint(bool withTransform, const Eigen::Affine3d & t, int i);
  
  std::vector< Eigen::Vector3d > m_AllPoints;
  Eigen::Vector3d m_CubeSize;
};

extern PointCloud* PointsToDraw;

#endif // POINTS_H