PointCloudExport.h

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#pragma once
 
#include "Zivid/Detail/CoreExport.h"
 
#include <filesystem>
#include <optional>
#include <string>
 
namespace Zivid
{
    class Frame;
    class UnorganizedPointCloud;
 
    namespace Experimental::PointCloudExport
    {
        enum class ColorSpace
        {
            sRGB,
            linearRGB,
        };
 
        enum class IncludeNormals
        {
            no,
            yes,
        };
 
        namespace FileFormat
        {
            class ZDF
            {
            public:
                static constexpr const char *description{ "Zivid Data File" };
                static constexpr const char *defaultExtension{ ".zdf" };
                static constexpr bool canLoad{ true };
 
                ZIVID_CORE_EXPORT explicit ZDF(const std::string &fileName);
 
                ZIVID_CORE_EXPORT const std::filesystem::path &fileName() const;
 
                ZIVID_CORE_EXPORT std::string toString() const;
 
            private:
                std::filesystem::path m_fileName;
            };
 
            class PLY
            {
            public:
                static constexpr const char *description{ "PLY File" };
                static constexpr const char *defaultExtension{ ".ply" };
                static constexpr bool canLoad{ false };
 
                enum class Layout
                {
                    ordered,
                    unordered
                };
 
                ZIVID_CORE_EXPORT explicit PLY(const std::string &fileName);
 
                ZIVID_CORE_EXPORT PLY(const std::string &fileName, Layout layout, ColorSpace colorSpace);
 
                ZIVID_CORE_EXPORT
                PLY(const std::string &fileName, Layout layout, ColorSpace colorSpace, IncludeNormals includeNormals);
 
                ZIVID_CORE_EXPORT const std::filesystem::path &fileName() const;
 
                ZIVID_CORE_EXPORT Layout layout() const;
 
                ZIVID_CORE_EXPORT ColorSpace colorSpace() const;
 
                ZIVID_CORE_EXPORT IncludeNormals includeNormals() const;
 
                ZIVID_CORE_EXPORT std::string toString() const;
 
            private:
                std::filesystem::path m_fileName;
                Layout m_layout = Layout::ordered;
                ColorSpace m_colorSpace = ColorSpace::sRGB;
                IncludeNormals m_includeNormals = IncludeNormals::no;
            };
 
            class XYZ
            {
            public:
                static constexpr const char *description{ "ASCII Points File" };
                static constexpr const char *defaultExtension{ ".xyz" };
                static constexpr bool canLoad{ false };
 
                ZIVID_CORE_EXPORT explicit XYZ(const std::string &fileName);
 
                ZIVID_CORE_EXPORT XYZ(const std::string &fileName, ColorSpace colorSpace);
 
                ZIVID_CORE_EXPORT const std::filesystem::path &fileName() const;
 
                ZIVID_CORE_EXPORT ColorSpace colorSpace() const;
 
                ZIVID_CORE_EXPORT std::string toString() const;
 
            private:
                std::filesystem::path m_fileName;
                ColorSpace m_colorSpace = ColorSpace::sRGB;
            };
 
            class PCD
            {
            public:
                static constexpr const char *description{ "Point Cloud Data File" };
                static constexpr const char *defaultExtension{ ".pcd" };
                static constexpr bool canLoad{ false };
 
                enum class Layout
                {
                    organized,
                    unorganized,
                };
 
                ZIVID_CORE_EXPORT explicit PCD(const std::string &fileName);
 
                ZIVID_CORE_EXPORT PCD(const std::string &fileName, ColorSpace colorSpace);
 
                ZIVID_CORE_EXPORT
                PCD(const std::string &fileName, ColorSpace colorSpace, IncludeNormals includeNormals);
 
                ZIVID_CORE_EXPORT
                PCD(const std::string &fileName, ColorSpace colorSpace, IncludeNormals includeNormals, Layout layout);
 
                ZIVID_CORE_EXPORT const std::filesystem::path &fileName() const;
 
                ZIVID_CORE_EXPORT std::optional<Layout> layout() const;
 
                ZIVID_CORE_EXPORT ColorSpace colorSpace() const;
 
                ZIVID_CORE_EXPORT IncludeNormals includeNormals() const;
 
                ZIVID_CORE_EXPORT std::string toString() const;
 
            private:
                std::filesystem::path m_fileName;
                ColorSpace m_colorSpace = ColorSpace::sRGB;
                IncludeNormals m_includeNormals = IncludeNormals::no;
                std::optional<Layout> m_layout{};
            };
 
            using FrameFileFormats = std::tuple<ZDF, PLY, XYZ, PCD>;
        } // namespace FileFormat
 
        ZIVID_CORE_EXPORT void exportFrame(const Zivid::Frame &frame, const FileFormat::ZDF &specification);
 
        ZIVID_CORE_EXPORT void exportFrame(const Zivid::Frame &frame, const FileFormat::PLY &specification);
 
        ZIVID_CORE_EXPORT void exportFrame(const Zivid::Frame &frame, const FileFormat::XYZ &specification);
 
        ZIVID_CORE_EXPORT void exportFrame(const Zivid::Frame &frame, const FileFormat::PCD &specification);
 
        ZIVID_CORE_EXPORT void exportUnorganizedPointCloud(
            const Zivid::UnorganizedPointCloud &pointCloud,
            const FileFormat::PLY &specification);
 
        ZIVID_CORE_EXPORT void exportUnorganizedPointCloud(
            const Zivid::UnorganizedPointCloud &pointCloud,
            const FileFormat::XYZ &specification);
 
        ZIVID_CORE_EXPORT void exportUnorganizedPointCloud(
            const Zivid::UnorganizedPointCloud &pointCloud,
            const FileFormat::PCD &specification);
 
    } // namespace Experimental::PointCloudExport
} // namespace Zivid