UnorganizedPointCloud.h

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#pragma once
 
#include "Zivid/Array1D.h"
#include "Zivid/Color.h"
#include "Zivid/Detail/CoreExport.h"
#include "Zivid/Matrix.h"
#include "Zivid/Point.h"
#include "Zivid/SNR.h"
 
#include <iosfwd>
#include <memory>
#include <optional>
#include <string>
 
namespace Zivid
{
    class UnorganizedPointCloud
    {
    public:
        ZIVID_CORE_EXPORT UnorganizedPointCloud();
 
        ZIVID_CORE_EXPORT size_t size() const;
 
        ZIVID_CORE_EXPORT UnorganizedPointCloud extended(const UnorganizedPointCloud &other) const;
 
        ZIVID_CORE_EXPORT UnorganizedPointCloud &extend(const UnorganizedPointCloud &other);
 
        ZIVID_CORE_EXPORT UnorganizedPointCloud voxelDownsampled(float voxelSize, int minPointsPerVoxel) const;
 
        ZIVID_CORE_EXPORT UnorganizedPointCloud &transform(const Zivid::Matrix4x4 &matrix);
 
        ZIVID_CORE_EXPORT UnorganizedPointCloud transformed(const Zivid::Matrix4x4 &matrix) const;
 
        ZIVID_CORE_EXPORT UnorganizedPointCloud &center();
 
        ZIVID_CORE_EXPORT std::optional<PointXYZ> centroid() const;
 
        ZIVID_CORE_EXPORT Array1D<PointXYZ> copyPointsXYZ() const;
 
        ZIVID_CORE_EXPORT Array1D<ColorRGBA> copyColorsRGBA() const;
 
        ZIVID_CORE_EXPORT Array1D<ColorBGRA> copyColorsBGRA() const;
 
        ZIVID_CORE_EXPORT Array1D<ColorRGBA_SRGB> copyColorsRGBA_SRGB() const;
 
        ZIVID_CORE_EXPORT Array1D<ColorBGRA_SRGB> copyColorsBGRA_SRGB() const;
 
        ZIVID_CORE_EXPORT Array1D<SNR> copySNRs() const;
 
        template<typename DataFormat>
        Array1D<DataFormat> copyData() const
        {
            static_assert(
                HasCopyDataImplReturnArray1DTag<DataFormat>::value,
                "The provided DataFormat is unsupported. Please refer to the documentation for "
                "this method for the supported DataFormats.");
            return copyDataImpl(ReturnArray1DTag<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 UnorganizedPointCloud clone() const;
 
        ZIVID_CORE_EXPORT std::string toString() const;
 
#ifndef NO_DOC
        ZIVID_CORE_EXPORT class UnorganizedPointCloudImpl &getImpl();
        ZIVID_CORE_EXPORT const class UnorganizedPointCloudImpl &getImpl() const;
        ZIVID_CORE_EXPORT explicit UnorganizedPointCloud(std::shared_ptr<class UnorganizedPointCloudImpl> other);
#endif
 
    private:
        template<class T>
        struct ReturnArray1DTag
        {};
 
        template<typename... Args>
        class HasCopyDataImplReturnArray1DTag
        {
            template<
                typename C,
                typename = decltype(std::declval<C>().copyDataImpl(std::declval<ReturnArray1DTag<Args>>()...))>
            static std::true_type test(int);
            template<typename C>
            static std::false_type test(...);
 
        public:
            static constexpr bool value = decltype(test<UnorganizedPointCloud>(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<UnorganizedPointCloud>(0))::value;
        };
 
        ZIVID_CORE_EXPORT Array1D<PointXYZ> copyDataImpl(ReturnArray1DTag<PointXYZ> /*tag*/) const;
        ZIVID_CORE_EXPORT Array1D<ColorRGBA> copyDataImpl(ReturnArray1DTag<ColorRGBA> /*tag*/) const;
        ZIVID_CORE_EXPORT Array1D<ColorBGRA> copyDataImpl(ReturnArray1DTag<ColorBGRA> /*tag*/) const;
        ZIVID_CORE_EXPORT Array1D<ColorRGBA_SRGB> copyDataImpl(ReturnArray1DTag<ColorRGBA_SRGB> /*tag*/) const;
        ZIVID_CORE_EXPORT Array1D<ColorBGRA_SRGB> copyDataImpl(ReturnArray1DTag<ColorBGRA_SRGB> /*tag*/) const;
        ZIVID_CORE_EXPORT Array1D<SNR> copyDataImpl(ReturnArray1DTag<SNR> /*tag*/) const;
 
        ZIVID_CORE_EXPORT void copyDataImpl(PointXYZ *destination) const;
        ZIVID_CORE_EXPORT void copyDataImpl(ColorRGBA *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(SNR *destination) const;
 
        std::shared_ptr<class UnorganizedPointCloudImpl> m_impl;
    };
 
    ZIVID_CORE_EXPORT std::ostream &operator<<(
        std::ostream &stream,
        const UnorganizedPointCloud &unorganizedPointCloud);
 
#ifndef NO_DOC
    namespace Detail
    {
        ZIVID_CORE_EXPORT void waitUntilProcessingIsComplete(const UnorganizedPointCloud &unorganizedPointCloud);
    } // namespace Detail
#endif
} // namespace Zivid