PointCloud.h

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/*******************************************************************************
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 *
 * Copyright 2015-2025 (C) Zivid AS
 * All rights reserved.
 *
 * Zivid Software License, v1.0
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
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 * 3. Neither the name of Zivid AS nor the names of its contributors may be used
 * to endorse or promote products derived from this software without specific
 * prior written permission.
 *
 * 4. This software, with or without modification, must not be used with any
 * other 3D camera than from Zivid AS.
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 * 5. Any software provided in binary form under this license must not be
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 * THIS SOFTWARE IS PROVIDED BY ZIVID AS "AS IS" AND ANY EXPRESS OR IMPLIED
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#pragma once
 
#include "Zivid/Array2D.h"
#include "Zivid/Detail/CoreExport.h"
#include "Zivid/Image.h"
#include "Zivid/Matrix.h"
#include "Zivid/Normal.h"
#include "Zivid/Point.h"
#include "Zivid/PointCloudCompositeTypes.h"
#include "Zivid/SNR.h"
#include "Zivid/UnorganizedPointCloud.h"
 
#include <iosfwd>
#include <memory>
#include <string>
 
namespace Zivid
{
    class Frame;
 
    class PointCloud
    {
    public:
        enum class Downsampling
        {
            by2x2,
            by3x3,
            by4x4,
        };
 
        ZIVID_CORE_EXPORT PointCloud();
 
        ZIVID_CORE_EXPORT size_t width() const;
 
        ZIVID_CORE_EXPORT size_t height() const;
 
        ZIVID_CORE_EXPORT size_t size() const;
 
        ZIVID_CORE_EXPORT bool isEmpty() const;
 
        ZIVID_CORE_EXPORT Array2D<PointXYZ> copyPointsXYZ() const;
 
        ZIVID_CORE_EXPORT Array2D<PointXYZW> copyPointsXYZW() const;
 
        ZIVID_CORE_EXPORT Array2D<PointZ> copyPointsZ() const;
 
        ZIVID_CORE_EXPORT Array2D<ColorRGBA> copyColorsRGBA() const;
 
        ZIVID_CORE_EXPORT Array2D<ColorBGRA> copyColorsBGRA() const;
 
        ZIVID_CORE_EXPORT Array2D<ColorRGBA_SRGB> copyColorsSRGB() const;
 
        ZIVID_CORE_EXPORT Array2D<ColorRGBA_SRGB> copyColorsRGBA_SRGB() const;
 
        ZIVID_CORE_EXPORT Array2D<ColorBGRA_SRGB> copyColorsBGRA_SRGB() const;
 
        ZIVID_CORE_EXPORT Image<ColorRGBA> copyImageRGBA() const;
 
        ZIVID_CORE_EXPORT Image<ColorBGRA> copyImageBGRA() const;
 
        ZIVID_CORE_EXPORT Image<ColorRGBA_SRGB> copyImageSRGB() const;
 
        ZIVID_CORE_EXPORT Image<ColorRGBA_SRGB> copyImageRGBA_SRGB() const;
 
        ZIVID_CORE_EXPORT Image<ColorBGRA_SRGB> copyImageBGRA_SRGB() const;
 
        ZIVID_CORE_EXPORT Array2D<SNR> copySNRs() const;
 
        ZIVID_CORE_EXPORT Array2D<NormalXYZ> copyNormalsXYZ() const;
 
        ZIVID_CORE_EXPORT Array2D<PointXYZColorRGBA> copyPointsXYZColorsRGBA() const;
 
        ZIVID_CORE_EXPORT Array2D<PointXYZColorRGBA_SRGB> copyPointsXYZColorsRGBA_SRGB() const;
 
        ZIVID_CORE_EXPORT Array2D<PointXYZColorBGRA> copyPointsXYZColorsBGRA() const;
 
        ZIVID_CORE_EXPORT Array2D<PointXYZColorBGRA_SRGB> copyPointsXYZColorsBGRA_SRGB() const;
 
        template<typename DataFormat>
        Array2D<DataFormat> copyData() const
        {
            static_assert(
                HasCopyDataImplReturnArray2DTag<DataFormat>::value,
                "The provided DataFormat is unsupported. Please refer to the documentation for "
                "this method for the supported DataFormats.");
            return copyDataImpl(ReturnArray2DTag<DataFormat>{});
        }
 
        template<typename DataFormat>
        void copyData(DataFormat *destination) const
        {
            static_assert(
                HasCopyDataImpl<DataFormat *>::value,
                "The provided DataFormat is unsupported. Please refer to the documentation for "
                "this method for the supported data formats.");
            return copyDataImpl(destination);
        }
 
        ZIVID_CORE_EXPORT std::string toString() const;
 
        ZIVID_CORE_EXPORT PointCloud &transform(const Zivid::Matrix4x4 &matrix);
 
        ZIVID_CORE_EXPORT PointCloud transformed(const Zivid::Matrix4x4 &matrix) const;
 
        ZIVID_CORE_EXPORT Zivid::Matrix4x4 transformationMatrix() const;
 
        ZIVID_CORE_EXPORT PointCloud &downsample(Downsampling downsampling);
 
        ZIVID_CORE_EXPORT PointCloud downsampled(Downsampling downsampling) const;
 
        ZIVID_CORE_EXPORT PointCloud clone() const;
 
        ZIVID_CORE_EXPORT UnorganizedPointCloud toUnorganizedPointCloud() const;
 
#ifndef NO_DOC
        ZIVID_CORE_EXPORT class PointCloudImpl &getImpl();
        ZIVID_CORE_EXPORT const class PointCloudImpl &getImpl() const;
        ZIVID_CORE_EXPORT explicit PointCloud(std::shared_ptr<class PointCloudImpl> other);
#endif
 
    private:
        template<class T>
        struct ReturnArray2DTag
        {};
 
        template<typename... Args>
        class HasCopyDataImplReturnArray2DTag
        {
            template<
                typename C,
                typename = decltype(std::declval<C>().copyDataImpl(std::declval<ReturnArray2DTag<Args>>()...))>
            static std::true_type test(int);
            template<typename C>
            static std::false_type test(...);
 
        public:
            static constexpr bool value = decltype(test<PointCloud>(0))::value;
        };
 
        template<typename... Args>
        class HasCopyDataImpl
        {
            template<typename C, typename = decltype(std::declval<C>().copyDataImpl(std::declval<Args>()...))>
            static std::true_type test(int);
            template<typename C>
            static std::false_type test(...);
 
        public:
            static constexpr bool value = decltype(test<PointCloud>(0))::value;
        };
 
        ZIVID_CORE_EXPORT Array2D<PointXYZ> copyDataImpl(ReturnArray2DTag<PointXYZ> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<PointXYZW> copyDataImpl(ReturnArray2DTag<PointXYZW> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<PointZ> copyDataImpl(ReturnArray2DTag<PointZ> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<ColorRGBA> copyDataImpl(ReturnArray2DTag<ColorRGBA> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<ColorBGRA> copyDataImpl(ReturnArray2DTag<ColorBGRA> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<ColorRGBA_SRGB> copyDataImpl(ReturnArray2DTag<ColorRGBA_SRGB> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<ColorBGRA_SRGB> copyDataImpl(ReturnArray2DTag<ColorBGRA_SRGB> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<PointXYZColorRGBA> copyDataImpl(ReturnArray2DTag<PointXYZColorRGBA> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<PointXYZColorRGBA_SRGB> copyDataImpl(
            ReturnArray2DTag<PointXYZColorRGBA_SRGB> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<PointXYZColorBGRA> copyDataImpl(ReturnArray2DTag<PointXYZColorBGRA> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<PointXYZColorBGRA_SRGB> copyDataImpl(
            ReturnArray2DTag<PointXYZColorBGRA_SRGB> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<SNR> copyDataImpl(ReturnArray2DTag<SNR> /*tag*/) const;
        ZIVID_CORE_EXPORT Array2D<NormalXYZ> copyDataImpl(ReturnArray2DTag<NormalXYZ> /*tag*/) const;
        ZIVID_CORE_EXPORT void copyDataImpl(PointXYZ *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(PointXYZW *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(PointZ *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(ColorRGBA *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(struct ColorRGBAf *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(ColorBGRA *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(ColorRGBA_SRGB *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(ColorBGRA_SRGB *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(PointXYZColorRGBA *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(PointXYZColorRGBA_SRGB *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(PointXYZColorBGRA *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(PointXYZColorBGRA_SRGB *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(SNR *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(NormalXYZ *destination) const;
 
        std::shared_ptr<class PointCloudImpl> m_impl;
    };
 
    ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const PointCloud &pointCloud);
 
#ifndef NO_DOC
    namespace Detail
    {
        ZIVID_CORE_EXPORT void waitUntilProcessingIsComplete(const PointCloud &pointCloud);
    } // namespace Detail
#endif
 
} // namespace Zivid