UnorganizedPointCloud.h

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#pragma once
 
#include "Zivid/Array1D.h"
#include "Zivid/Color.h"
#include "Zivid/ComputeWrappers.h"
#include "Zivid/Detail/CoreExport.h"
#include "Zivid/DeviceArray.h"
#include "Zivid/Image.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 UnorganizedPointCloud &paintUniformColor(const Zivid::ColorRGBA &color);

        ZIVID_CORE_EXPORT UnorganizedPointCloud paintedUniformColor(const Zivid::ColorRGBA &color) const;

        ZIVID_CORE_EXPORT Array1D<PointXYZ> copyPointsXYZ() const;

        ZIVID_CORE_EXPORT Array1D<PointXYZW> copyPointsXYZW() 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;

        ZIVID_CORE_EXPORT DeviceArray<PointXYZ> devicePointsXYZ(StreamOrQueue streamOrQueue) const;

        ZIVID_CORE_EXPORT DeviceArray<PointXYZW> devicePointsXYZW(StreamOrQueue streamOrQueue) const;

        ZIVID_CORE_EXPORT DeviceArray<SNR> deviceSNRs(StreamOrQueue streamOrQueue) const;

        template<
            typename ColorFormat,
            typename = std::enable_if_t<Detail::SupportedImageDeviceArrayColorFormat<ColorFormat>::value>>
        DeviceArray<ColorFormat> deviceColors(StreamOrQueue streamOrQueue) 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<PointXYZW> copyDataImpl(ReturnArray1DTag<PointXYZW> /*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(PointXYZW *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
 
#ifndef NO_DOC
#    define ZIVID_UNORGANIZED_PC_EXTERN(Format)                                                                        \
        extern template ZIVID_CORE_EXPORT DeviceArray<Format> UnorganizedPointCloud::deviceColors<Format>(             \
            StreamOrQueue) const
 
    ZIVID_UNORGANIZED_PC_EXTERN(ColorRGBA);
    ZIVID_UNORGANIZED_PC_EXTERN(ColorRGBA_SRGB);
    ZIVID_UNORGANIZED_PC_EXTERN(ColorBGRA);
    ZIVID_UNORGANIZED_PC_EXTERN(ColorBGRA_SRGB);
    ZIVID_UNORGANIZED_PC_EXTERN(ColorRGBAf);
#    undef ZIVID_UNORGANIZED_PC_EXTERN
#endif
} // namespace Zivid