From b9d32d9c19f3d720b2f227c7f96283eaec765103 Mon Sep 17 00:00:00 2001
From: Darkce <darkce97@gmail.com>
Date: Sat, 22 Oct 2022 09:02:24 +0800
Subject: [PATCH] feat: add size and data to PointCloud

---
 src/modules/common/PointCloud.ts      | 19 +++++++++
 tests/common/PointCloud.test.ts       |  9 +++++
 website/docs/api/basic-structures.mdx | 58 ++++++++++++++++-----------
 3 files changed, 62 insertions(+), 24 deletions(-)

diff --git a/src/modules/common/PointCloud.ts b/src/modules/common/PointCloud.ts
index ea14db6..d60b374 100644
--- a/src/modules/common/PointCloud.ts
+++ b/src/modules/common/PointCloud.ts
@@ -28,6 +28,17 @@ export class Vector<T> {
     return this._native.empty();
   }
 
+  get data() {
+    const size = this.size;
+    const _data: T[] = [];
+
+    for (let i = 0; i < size; i++) {
+      _data.push(this._native.get(i));
+    }
+
+    return _data;
+  }
+
   public resize(count: number, value?: T) {
     this._native.resize(count, value ?? null);
   }
@@ -147,6 +158,14 @@ class PointCloud<T extends PointTypes = PointXYZ> {
     return this._points;
   }
 
+  get isEmpty() {
+    return this.points.isEmpty();
+  }
+
+  get data() {
+    return this.points.data;
+  }
+
   /**
    * Removes all points in a cloud and sets the width and height to 0.
    */
diff --git a/tests/common/PointCloud.test.ts b/tests/common/PointCloud.test.ts
index 54d0fc8..2556189 100644
--- a/tests/common/PointCloud.test.ts
+++ b/tests/common/PointCloud.test.ts
@@ -1,4 +1,5 @@
 import * as PCL from '../../';
+import { getTestPCDFile } from '../utils';
 
 describe('PointCloud', () => {
   it('should create a point cloud data with XYZ fields, `width` = 5, `height` = 1', async () => {
@@ -21,4 +22,12 @@ describe('PointCloud', () => {
     cloud.manager.delete();
     expect(cloud.manager.isDeleted()).toBe(true);
   });
+
+  it('should get `size` and `data`', () => {
+    const data = getTestPCDFile('bun4.pcd');
+    const cloud = PCL.loadPCDData(data);
+
+    expect(cloud.size).toBe(361);
+    expect(cloud.data.length).toBe(361);
+  });
 });
diff --git a/website/docs/api/basic-structures.mdx b/website/docs/api/basic-structures.mdx
index d96e253..dbb023c 100644
--- a/website/docs/api/basic-structures.mdx
+++ b/website/docs/api/basic-structures.mdx
@@ -12,31 +12,41 @@ sidebar_position: 2
 new PointCloud();
 ```
 
-### Members
-
-#### isDense
-
-#### isOrganized
-
-#### points
-
-#### width
-
-#### height
-
-#### header
-
-#### size
-
-### Methods
-
-#### clear()
-
-#### resize()
-
-#### addPoint()
+```ts showLineNumbers
+class PointCloud<T extends PointTypes = PointXYZ> {
+  manager: Manager;
+  constructor(_PT?: PointTypesTypeof, _native?: NativeAPI);
+  get isOrganized(): boolean;
+  get isDense(): boolean;
+  set width(v: number);
+  get width(): number;
+  set height(v: number);
+  get height(): number;
+  get header(): PCLHeader;
+  get size(): number;
+  get points(): Points<T>;
+  get isEmpty(): boolean;
+  get data(): T[];
+  /**
+   * Removes all points in a cloud and sets the width and height to 0.
+   */
+  clear(): void;
+  /**
+   * Resizes the container to contain `count` elements
+   * @params count - New size of the point cloud
+   * @params pt - The value to initialize the new points with
+   */
+  resize(count: number, pt?: T): void;
+  /**
+   * Insert a new point in the cloud, at the end of the container.
+   * @description This breaks the organized structure of the cloud by setting the height to 1!
+   * @params pt - The point to insert
+   */
+  addPoint(pt?: T | null): void;
+}
+```
 
-#### manager
+## Manager
 
 ```ts
 class Manager {