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Merged
QuangNguyenLong merged 3 commits into from
Jul 3, 2025
Merged

Ease readability #2

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2a7ba3e
update better naming
QuangNguyenLong Jun 20, 2025
25f3459
ease readability
QuangNguyenLong Jul 3, 2025
9662a72
remove redundant exports
QuangNguyenLong Jul 3, 2025
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4 changes: 2 additions & 2 deletions example/cam2mat.cpp
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Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
#include <pcprep/pointcloud.h>
#include <pcprep/point_cloud.h>
#include <glm/gtc/matrix_transform.hpp>
#include <cJSON.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <pcprep/core.h>
#include <pcprep/utils.h>


int parse_aspect_ratio(const char* aspect_str, int *width, int *height)
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20 changes: 13 additions & 7 deletions include/pcprep/aabb.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,8 @@ extern "C"
{

#endif
#include "pcprep/defs.h"
#include "pcprep/mesh.h"
#include "pcprep/pcprep_export.h"
#include "pcprep/vec3f.h"

/**
Expand All @@ -16,11 +16,18 @@ extern "C"
* Defined by its min and max corners.
* @see aabb.h
*/
typedef struct aabb_t
struct pcp_aabb_t
{
vec3f_t min; ///< Minimum (x, y, z)
vec3f_t max; ///< Maximum (x, y, z)
} aabb_t;
pcp_vec3f_t min; ///< Minimum (x, y, z)
pcp_vec3f_t max; ///< Maximum (x, y, z)
pcp_ret_t (*to_mesh)(pcp_aabb_t *self, pcp_mesh_t *mesh);
};

PCPREP_EXPORT
pcp_ret_t pcp_aabb_init(pcp_aabb_t *self);

PCPREP_EXPORT
pcp_ret_t pcp_aabb_free(pcp_aabb_t *self);

/**
* @brief Constructs a triangle mesh from an axis-aligned bounding
Expand All @@ -32,8 +39,7 @@ extern "C"
* @param mesh Output pointer to the resulting mesh.
* @return 0 on success, non-zero on failure.
*/
PCPREP_EXPORT
int aabb_to_mesh(aabb_t aabb, mesh_t *mesh);
pcp_ret_t pcp_aabb_to_mesh(pcp_aabb_t *self, pcp_mesh_t *mesh);

#ifdef __cplusplus
}
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55 changes: 25 additions & 30 deletions include/pcprep/canvas.h
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Original file line number Diff line number Diff line change
@@ -1,22 +1,20 @@
#ifndef CANVAS_H
#define CANVAS_H

#include "pcprep/core.h"
#include "pcprep/pcprep_export.h"
#include "pcprep/defs.h"
#include "pcprep/utils.h"
#include "pcprep/vec3uc.h"

typedef struct canvas_t canvas_t;

/**
* @brief holds the data of a virtual screen to be drawn.
*
*
*/
struct canvas_t
struct pcp_canvas_t
{
size_t width;
size_t height;
vec3uc_t bg_col;
pcp_vec3uc_t bg_col;
unsigned char *pixels;
float **min_z_value;

Expand All @@ -31,40 +29,37 @@ struct canvas_t
unsigned int matrix_id;
#endif

void (*draw_points)(
canvas_t *, float *, float *, unsigned char *, size_t);
void (*clear)(canvas_t *);
pcp_ret_t (*draw_points)(
pcp_canvas_t *, float *, float *, unsigned char *, size_t);
pcp_ret_t (*clear)(pcp_canvas_t *);
};

PCPREP_EXPORT
int canvas_init(canvas_t *cv,
size_t width,
size_t height,
pcp_ret_t pcp_canvas_init(pcp_canvas_t *cv,
size_t width,
size_t height,
#ifdef HAVE_GPU
char *vert_shader,
char *frag_shader,
char *vert_shader,
char *frag_shader,
#endif
vec3uc_t bg_col);
pcp_vec3uc_t bg_col);

PCPREP_EXPORT
int canvas_free(canvas_t *cv);
pcp_ret_t pcp_canvas_free(pcp_canvas_t *cv);

#ifdef HAVE_GPU
PCPREP_EXPORT
void canvas_draw_points_gpu(canvas_t *cv,
float *mvp,
float *pos,
unsigned char *rgb,
size_t count);
pcp_ret_t pcp_canvas_draw_points_gpu(pcp_canvas_t *cv,
float *mvp,
float *pos,
unsigned char *rgb,
size_t count);
#endif
PCPREP_EXPORT
void canvas_draw_points_cpu(canvas_t *cv,
float *mvp,
float *pos,
unsigned char *rgb,
size_t count);
pcp_ret_t pcp_canvas_draw_points_cpu(pcp_canvas_t *cv,
float *mvp,
float *pos,
unsigned char *rgb,
size_t count);

PCPREP_EXPORT
void canvas_clear(canvas_t *cv);
pcp_ret_t pcp_canvas_clear(pcp_canvas_t *cv);

#endif
29 changes: 29 additions & 0 deletions include/pcprep/defs.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,29 @@
#ifndef PCPREP_DEFS_H
#define PCPREP_DEFS_H

#include "pcprep/pcprep_export.h"
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>

typedef uint32_t pcp_ret_t;

#define PCPREP_RET_FAIL 0x00
#define PCPREP_RET_SUCCESS 0x01

#ifdef __cplusplus
#define PCPREP_NULL nullptr
#else
#define PCPREP_NULL ((void *)0)
#endif

typedef struct pcp_aabb_t pcp_aabb_t;
typedef struct pcp_canvas_t pcp_canvas_t;
typedef struct pcp_mesh_t pcp_mesh_t;
typedef struct pcp_point_cloud_t pcp_point_cloud_t;
typedef struct pcp_vec3f_t pcp_vec3f_t;
typedef struct pcp_vec3u_t pcp_vec3u_t;
typedef struct pcp_vec3uc_t pcp_vec3uc_t;

#endif
40 changes: 27 additions & 13 deletions include/pcprep/mesh.h
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Original file line number Diff line number Diff line change
Expand Up @@ -7,30 +7,44 @@ extern "C"

#endif

#include "pcprep/pcprep_export.h"
#include "pcprep/defs.h"
#include <stdint.h>
#include <stdlib.h>

typedef struct mesh_t
struct pcp_mesh_t
{
float *pos;
uint32_t num_verts;
uint32_t *indices;
uint32_t num_indices;
} mesh_t;
pcp_ret_t (*alloc)(pcp_mesh_t *self,
uint32_t num_verts,
uint32_t num_indices);
pcp_ret_t (*load)(pcp_mesh_t *self, const char *filename);
pcp_ret_t (*write)(pcp_mesh_t *self,
const char *filename,
int binary);
pcp_ret_t (*get_screen_ratio)(pcp_mesh_t *self,
float *mvp,
float *screen_ratio);
};

PCPREP_EXPORT
int mesh_init(mesh_t *mesh,
uint32_t num_verts,
uint32_t num_indices);
pcp_ret_t pcp_mesh_init(pcp_mesh_t *self);
PCPREP_EXPORT
int mesh_free(mesh_t *mesh);
PCPREP_EXPORT
int mesh_load(mesh_t *mesh, const char *filename);
PCPREP_EXPORT
int mesh_write(mesh_t mesh, const char *filename, int binary);
PCPREP_EXPORT
int mesh_screen_ratio(mesh_t mesh, float *mvp, float *screen_ratio);
pcp_ret_t pcp_mesh_free(pcp_mesh_t *self);

pcp_ret_t pcp_mesh_alloc(pcp_mesh_t *self,
uint32_t num_verts,
uint32_t num_indices);
pcp_ret_t pcp_mesh_load(pcp_mesh_t *self, const char *filename);

pcp_ret_t
pcp_mesh_write(pcp_mesh_t *self, const char *filename, int binary);

pcp_ret_t pcp_mesh_get_screen_ratio(pcp_mesh_t *self,
float *mvp,
float *screen_ratio);

#ifdef __cplusplus
}
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95 changes: 95 additions & 0 deletions include/pcprep/point_cloud.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,95 @@
#ifndef POINT_CLOUD_H
#define POINT_CLOUD_H

#ifdef __cplusplus
extern "C"
{
#endif

#include <pcprep/defs.h>
#include <pcprep/vec3f.h>
#include <stdint.h>
#include <stdlib.h>

struct pcp_point_cloud_t
{
float *pos;
uint8_t *rgb;
size_t size; // number of points, *pos have size*3 elements
pcp_ret_t (*alloc)(pcp_point_cloud_t *self, size_t size);
pcp_ret_t (*load)(pcp_point_cloud_t *self, const char *filename);
pcp_ret_t (*write)(pcp_point_cloud_t *self,
const char *filename,
int binary);
pcp_ret_t (*get_min)(pcp_point_cloud_t *self, pcp_vec3f_t *min);
pcp_ret_t (*get_max)(pcp_point_cloud_t *self, pcp_vec3f_t *max);
pcp_ret_t (*tile)(pcp_point_cloud_t *self,
int n_x,
int n_y,
int n_z,
pcp_point_cloud_t **tiles);
pcp_ret_t (*sample)(pcp_point_cloud_t *self,
float ratio,
unsigned char strategy,
pcp_point_cloud_t *out);
pcp_ret_t (*remove_dupplicates)(pcp_point_cloud_t *self,
pcp_point_cloud_t *out);
pcp_ret_t (*voxelize)(pcp_point_cloud_t *self,
float voxel_size,
pcp_point_cloud_t *out);
pcp_ret_t (*get_pixel_per_tile)(pcp_point_cloud_t *self,
int nx,
int ny,
int nz,
int width,
int height,
float *mvp,
int *pixel_count);
};

PCPREP_EXPORT
pcp_ret_t pcp_point_cloud_init(pcp_point_cloud_t *self);
PCPREP_EXPORT
pcp_ret_t pcp_point_cloud_free(pcp_point_cloud_t *pc);

pcp_ret_t pcp_point_cloud_alloc(pcp_point_cloud_t *pc, size_t size);

pcp_ret_t pcp_point_cloud_load(pcp_point_cloud_t *pc,
const char *filename);
pcp_ret_t pcp_point_cloud_write(pcp_point_cloud_t *pc,
const char *filename,
int binary);
pcp_ret_t pcp_point_cloud_get_min(pcp_point_cloud_t *pc,
pcp_vec3f_t *min);
pcp_ret_t pcp_point_cloud_get_max(pcp_point_cloud_t *pc,
pcp_vec3f_t *max);

pcp_ret_t pcp_point_cloud_tile(pcp_point_cloud_t *pc,
int n_x,
int n_y,
int n_z,
pcp_point_cloud_t **tiles);

pcp_ret_t pcp_point_cloud_sample(pcp_point_cloud_t *pc,
float ratio,
unsigned char strategy,
pcp_point_cloud_t *out);

pcp_ret_t
pcp_point_cloud_remove_dupplicates(pcp_point_cloud_t *pc,
pcp_point_cloud_t *out);
pcp_ret_t pcp_point_cloud_voxelize(pcp_point_cloud_t *pc,
float voxel_size,
pcp_point_cloud_t *out);
pcp_ret_t pcp_point_cloud_get_pixel_per_tile(pcp_point_cloud_t *pc,
int nx,
int ny,
int nz,
int width,
int height,
float *mvp,
int *pixel_count);
#ifdef __cplusplus
}
#endif
#endif
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