Zivid C++ API 2.13.1+18e79e79-1
PointCloud.h
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43
44#pragma once
45
46#include <Zivid/Matrix.h>
47#include "Zivid/Array2D.h"
49#include "Zivid/Image.h"
50#include "Zivid/Normal.h"
51#include "Zivid/Point.h"
53#include "Zivid/SNR.h"
54
55#include <iosfwd>
56#include <memory>
57#include <string>
58
59namespace Zivid
60{
70 {
71 public:
78 enum class Downsampling
79 {
80 by2x2,
81 by3x3,
82 by4x4,
83 };
84
87
89 ZIVID_CORE_EXPORT size_t width() const;
90
92 ZIVID_CORE_EXPORT size_t height() const;
93
96 ZIVID_CORE_EXPORT size_t size() const;
97
100
116
136
148
165
182
200
217
230
249
256
270
284
298
310 template<typename DataFormat>
312 {
313 static_assert(
314 HasCopyDataImplReturnArray2DTag<DataFormat>::value,
315 "The provided DataFormat is unsupported. Please refer to the documentation for "
316 "this method for the supported DataFormats.");
317 return copyDataImpl(ReturnArray2DTag<DataFormat>{});
318 }
319
387 template<typename DataFormat>
388 void copyData(DataFormat *destination) const
389 {
390 static_assert(
391 HasCopyDataImpl<DataFormat *>::value,
392 "The provided DataFormat is unsupported. Please refer to the documentation for "
393 "this method for the supported data formats.");
394 return copyDataImpl(destination);
395 }
396
399 ZIVID_CORE_EXPORT std::string toString() const;
400
406
437
446
458
459#ifndef NO_DOC
460 ZIVID_CORE_EXPORT class PointCloudImpl &getImpl();
461 ZIVID_CORE_EXPORT const class PointCloudImpl &getImpl() const;
462 ZIVID_CORE_EXPORT explicit PointCloud(std::shared_ptr<class PointCloudImpl> other);
463#endif
464
465 private:
466 template<class T>
467 struct ReturnArray2DTag
468 {};
469
470 template<typename... Args>
471 class HasCopyDataImplReturnArray2DTag
472 {
473 template<
474 typename C,
475 typename = decltype(std::declval<C>().copyDataImpl(std::declval<ReturnArray2DTag<Args>>()...))>
476 static std::true_type test(int);
477 template<typename C>
478 static std::false_type test(...);
479
480 public:
481 static constexpr bool value = decltype(test<PointCloud>(0))::value;
482 };
483
484 template<typename... Args>
485 class HasCopyDataImpl
486 {
487 template<typename C, typename = decltype(std::declval<C>().copyDataImpl(std::declval<Args>()...))>
488 static std::true_type test(int);
489 template<typename C>
490 static std::false_type test(...);
491
492 public:
493 static constexpr bool value = decltype(test<PointCloud>(0))::value;
494 };
495
496 ZIVID_CORE_EXPORT Array2D<PointXYZ> copyDataImpl(ReturnArray2DTag<PointXYZ> /*tag*/) const;
497 ZIVID_CORE_EXPORT Array2D<PointXYZW> copyDataImpl(ReturnArray2DTag<PointXYZW> /*tag*/) const;
498 ZIVID_CORE_EXPORT Array2D<PointZ> copyDataImpl(ReturnArray2DTag<PointZ> /*tag*/) const;
499 ZIVID_CORE_EXPORT Array2D<ColorRGBA> copyDataImpl(ReturnArray2DTag<ColorRGBA> /*tag*/) const;
500 ZIVID_CORE_EXPORT Array2D<ColorBGRA> copyDataImpl(ReturnArray2DTag<ColorBGRA> /*tag*/) const;
501 ZIVID_CORE_EXPORT Array2D<ColorSRGB> copyDataImpl(ReturnArray2DTag<ColorSRGB> /*tag*/) const;
502 ZIVID_CORE_EXPORT Array2D<PointXYZColorRGBA> copyDataImpl(ReturnArray2DTag<PointXYZColorRGBA> /*tag*/) const;
503 ZIVID_CORE_EXPORT Array2D<PointXYZColorBGRA> copyDataImpl(ReturnArray2DTag<PointXYZColorBGRA> /*tag*/) const;
504 ZIVID_CORE_EXPORT Array2D<SNR> copyDataImpl(ReturnArray2DTag<SNR> /*tag*/) const;
505 ZIVID_CORE_EXPORT Array2D<NormalXYZ> copyDataImpl(ReturnArray2DTag<NormalXYZ> /*tag*/) const;
506 ZIVID_CORE_EXPORT void copyDataImpl(PointXYZ *destination) const;
507 ZIVID_CORE_EXPORT void copyDataImpl(PointXYZW *destination) const;
508 ZIVID_CORE_EXPORT void copyDataImpl(PointZ *destination) const;
509 ZIVID_CORE_EXPORT void copyDataImpl(ColorRGBA *destination) const;
510 ZIVID_CORE_EXPORT void copyDataImpl(struct ColorRGBAf *destination) const;
511 ZIVID_CORE_EXPORT void copyDataImpl(ColorBGRA *destination) const;
512 ZIVID_CORE_EXPORT void copyDataImpl(ColorSRGB *destination) const;
513 ZIVID_CORE_EXPORT void copyDataImpl(PointXYZColorRGBA *destination) const;
514 ZIVID_CORE_EXPORT void copyDataImpl(PointXYZColorBGRA *destination) const;
515 ZIVID_CORE_EXPORT void copyDataImpl(SNR *destination) const;
516 ZIVID_CORE_EXPORT void copyDataImpl(NormalXYZ *destination) const;
517
518 std::shared_ptr<class PointCloudImpl> m_impl;
519 };
520
522 ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const PointCloud &pointCloud);
523
524#ifndef NO_DOC
526 namespace Detail
527 {
528 ZIVID_CORE_EXPORT void waitUntilProcessingIsComplete(const PointCloud &pointCloud);
529 } // namespace Detail
530#endif
531
532} // namespace Zivid
#define ZIVID_CORE_EXPORT
Definition CoreExport.h:56
Two-dimensional container of data.
Definition Array2D.h:83
A 2-dimensional image.
Definition Image.h:85
Point cloud with x, y, z, RGB color and SNR laid out on a 2D grid.
Definition PointCloud.h:70
ZIVID_CORE_EXPORT Array2D< PointXYZW > copyPointsXYZW() const
Array2D of point coordinates in 4D.
ZIVID_CORE_EXPORT PointCloud clone() const
Returns a clone of the point cloud. The clone will include a copy of all of the point cloud data on t...
ZIVID_CORE_EXPORT PointCloud & downsample(Downsampling downsampling)
Downsample the point cloud in-place.
ZIVID_CORE_EXPORT Image< ColorRGBA > copyImageRGBA() const
Get point cloud colors as 8-bit RGBA image.
void copyData(DataFormat *destination) const
Copy data in the specified DataFormat to a destination buffer.
Definition PointCloud.h:388
ZIVID_CORE_EXPORT Array2D< SNR > copySNRs() const
Array2D of SNR values.
ZIVID_CORE_EXPORT PointCloud & transform(const Zivid::Matrix4x4 &matrix)
Transform the point cloud in-place by the given 4x4 transformation matrix.
Downsampling
Option for downsampling.
Definition PointCloud.h:79
ZIVID_CORE_EXPORT Array2D< ColorRGBA > copyColorsRGBA() const
Array2D of point colors in 8-bit RGBA format.
ZIVID_CORE_EXPORT size_t size() const
Get the size of the point cloud (total number of points)
ZIVID_CORE_EXPORT Array2D< PointXYZColorRGBA > copyPointsXYZColorsRGBA() const
Array2D of PointXYZColorRGBA.
ZIVID_CORE_EXPORT std::string toString() const
Get string representation of the point cloud.
Array2D< DataFormat > copyData() const
Array2D with point cloud data using specified DataFormat.
Definition PointCloud.h:311
ZIVID_CORE_EXPORT Image< ColorSRGB > copyImageSRGB() const
Get point cloud colors as 8-bit RGB image in the sRGB color space.
ZIVID_CORE_EXPORT PointCloud()
Create an empty point cloud.
ZIVID_CORE_EXPORT Array2D< NormalXYZ > copyNormalsXYZ() const
Array2D of NormalXYZ.
ZIVID_CORE_EXPORT size_t width() const
Get the width of the point cloud (number of columns)
ZIVID_CORE_EXPORT Array2D< PointXYZ > copyPointsXYZ() const
Array2D of point coordinates.
ZIVID_CORE_EXPORT Array2D< PointXYZColorBGRA > copyPointsXYZColorsBGRA() const
Array2D of PointXYZColorBGRA.
ZIVID_CORE_EXPORT Array2D< ColorSRGB > copyColorsSRGB() const
Array2D of point colors in 8-bit RGBA format in the sRGB color space.
ZIVID_CORE_EXPORT Array2D< PointZ > copyPointsZ() const
Array2D of Z coordinates.
ZIVID_CORE_EXPORT PointCloud downsampled(Downsampling downsampling) const
Get a downsampled point cloud.
ZIVID_CORE_EXPORT bool isEmpty() const
Check if the point cloud is empty (contains zero points)
ZIVID_CORE_EXPORT Image< ColorBGRA > copyImageBGRA() const
Get point cloud colors as 8-bit BGRA image.
ZIVID_CORE_EXPORT size_t height() const
Get the height of the point cloud (number of rows)
ZIVID_CORE_EXPORT Array2D< ColorBGRA > copyColorsBGRA() const
Array2D of point colors in 8-bit BGRA format.
The main Zivid namespace. All Zivid code is found here.
Definition Application.h:56
std::ostream & operator<<(std::ostream &stream, const Array2D< T > &array)
Serialize array information to a stream.
Definition Array2D.h:285