#ifndef CLOUD_VIEW_3D_TYPES_H
#define CLOUD_VIEW_3D_TYPES_H

#include <cstddef>
#include <cstdint>
#include <vector>

struct Point3D
{
    float x, y, z;
    Point3D() : x(0), y(0), z(0) {}
    Point3D(float _x, float _y, float _z) : x(_x), y(_y), z(_z) {}
};

struct Point3DRGB
{
    float x, y, z;
    uint8_t r, g, b;
    float pointSize;

    Point3DRGB() : x(0), y(0), z(0), r(255), g(255), b(255), pointSize(0) {}
    Point3DRGB(float _x,
               float _y,
               float _z,
               uint8_t _r = 255,
               uint8_t _g = 255,
               uint8_t _b = 255,
               float _ps = 0)
        : x(_x), y(_y), z(_z), r(_r), g(_g), b(_b), pointSize(_ps) {}
};

template<typename PointT>
class SimplePointCloud
{
public:
    std::vector<PointT> points;
    std::vector<int> lineIndices;

    void clear() { points.clear(); lineIndices.clear(); }
    size_t size() const { return points.size(); }
    bool empty() const { return points.empty(); }
    void reserve(size_t n) { points.reserve(n); lineIndices.reserve(n); }
    void push_back(const PointT& pt) { points.push_back(pt); }
    void push_back(const PointT& pt, int lineIdx)
    {
        points.push_back(pt);
        lineIndices.push_back(lineIdx);
    }
};

using PointCloudXYZ = SimplePointCloud<Point3D>;
using PointCloudXYZRGB = SimplePointCloud<Point3DRGB>;

#endif // CLOUD_VIEW_3D_TYPES_H