Represents the 3D scanning result, which can be obtained by calling Camera::capture3D or Camera::capture3DWithNormal. Use a 2D array to represent it while each pixel represents its corresponding 3D data. The 3D data can be in the form of PointZ, PointXYZ, PointXYZWithNormal. The class supports saving 3D point cloud data to the file. More...

#include <Frame3D.h>

Public Member Functions
	Frame3D ()
	Constructor.

	~Frame3D ()
	Destructor.

	Frame3D (const Frame3D &other) noexcept
	Copy constructor.

Frame3D &	operator= (const Frame3D &other) noexcept
	Copy assignment.

Size	imageSize () const
	Gets the image size information of Frame3D.

bool	isEmpty () const
	Judges whether Frame3D is empty.

void	clear ()
	Clears the data in Frame3D and releases the related resources.

PointCloud	getUntexturedPointCloud () const
	Obtains the organized 3D data map with a PointXYZ pixel data format. Each point in PointCloud contains the X, Y, and Z data represented in the camera coordinate system. The X, Y, and Z data unit is in mm, and invalid data is in nan.

PointCloudWithNormals	getUntexturedPointCloudWithNormals () const
	Obtains the organized 3D data map with a PointXYZWithNormals pixel data format. Each point in PointCloudWithNormals contains the X, Y, Z data represented in the camera coordinate system. The X, Y, and Z data unit is in mm, and invalid data is in nan. Normal vectors are computed for each point. If the Frame3D is obtained by Camera::capture3DWithNormal, the normal vectors are computed at the camera side.

DepthMap	getDepthMap () const
	Obtains the organized 3D data map with a PointZ pixel data format. Each point in DepthMap contains the Z data represented in the camera coordinate system. If only Z information is considered for the application scenario, using DepthMap can be more efficient. The depth data unit is in mm, and invalid data is in nan.

DepthMap	getOrthogonalDepthMap (double &xScale, double &yScale, double &xOffset, double &yOffset) const
	Obtains the 3D data map with the PointZ pixel data format. The 3D data is projected under the orthographic projection camera model. Four parameters are provided to assist in converting depth pixel positions into coordinate values represented in camera coordinate system according to the formula: X = col * xScale + xOffset, Y = row * yScale + yOffset.

ErrorStatus	saveUntexturedPointCloud (FileFormat fileFormat, const std::string &fileName, bool isOrganized=false) const
	Saves the untextured point cloud to a file with input file format and input file name. Each point contains X, Y, and Z fields with the unit in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

ErrorStatus	saveUntexturedPointCloudWithNormals (FileFormat fileFormat, const std::string &fileName, bool isOrganized=false) const
	Saves the untextured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, normalX, normalY, and normalZ fields with the unit in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

Static Public Member Functions
static ErrorStatus	savePointCloud (const PointCloud &pointCloud, FileFormat fileFormat, const std::string &fileName, bool isOrganized=false)
	Saves the untextured point cloud to a file with input file format and input file name. Each point contains X, Y, and Z fields with the unit in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

static ErrorStatus	savePointCloudWithNormals (const PointCloudWithNormals &pointCloud, FileFormat fileFormat, const std::string &fileName, bool isOrganized=false)
	Saves the untextured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, normalX, normalY, and normalZ fields with the unit in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

Friends
class	CameraImpl

class	Frame2DAnd3D

Detailed Description

Represents the 3D scanning result, which can be obtained by calling Camera::capture3D or Camera::capture3DWithNormal. Use a 2D array to represent it while each pixel represents its corresponding 3D data. The 3D data can be in the form of PointZ, PointXYZ, PointXYZWithNormal. The class supports saving 3D point cloud data to the file.

Definition at line 104 of file Frame3D.h.

Member Function Documentation

◆ getDepthMap()

DepthMap mmind::eye::Frame3D::getDepthMap ( ) const

Obtains the organized 3D data map with a PointZ pixel data format. Each point in DepthMap contains the Z data represented in the camera coordinate system. If only Z information is considered for the application scenario, using DepthMap can be more efficient. The depth data unit is in mm, and invalid data is in nan.

Returns: See DepthMap for details.

◆ getOrthogonalDepthMap()

DepthMap mmind::eye::Frame3D::getOrthogonalDepthMap	(	double &	xScale,
		double &	yScale,
		double &	xOffset,
		double &	yOffset
	)		const

Obtains the 3D data map with the PointZ pixel data format. The 3D data is projected under the orthographic projection camera model. Four parameters are provided to assist in converting depth pixel positions into coordinate values represented in camera coordinate system according to the formula: X = col * xScale + xOffset, Y = row * yScale + yOffset.

Parameters

[out]	xScale	The output parameter.
[out]	yScale	The output parameter.
[out]	xOffset	The output parameter.
[out]	yOffset	The output parameter.

Returns: See DepthMap for details.

◆ getUntexturedPointCloud()

PointCloud mmind::eye::Frame3D::getUntexturedPointCloud ( ) const

Obtains the organized 3D data map with a PointXYZ pixel data format. Each point in PointCloud contains the X, Y, and Z data represented in the camera coordinate system. The X, Y, and Z data unit is in mm, and invalid data is in nan.

Returns: See PointCloud for details.

◆ getUntexturedPointCloudWithNormals()

PointCloudWithNormals mmind::eye::Frame3D::getUntexturedPointCloudWithNormals ( ) const

Obtains the organized 3D data map with a PointXYZWithNormals pixel data format. Each point in PointCloudWithNormals contains the X, Y, Z data represented in the camera coordinate system. The X, Y, and Z data unit is in mm, and invalid data is in nan. Normal vectors are computed for each point. If the Frame3D is obtained by Camera::capture3DWithNormal, the normal vectors are computed at the camera side.

Returns: See PointCloudWithNormals for details.

◆ savePointCloud()

static ErrorStatus mmind::eye::Frame3D::savePointCloud	(	const PointCloud &	pointCloud,
		FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = `false`
	)

static

Saves the untextured point cloud to a file with input file format and input file name. Each point contains X, Y, and Z fields with the unit in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

Parameters

[in]	pointCloud	The input point cloud. See PointCloud for details.
[in]	fileFormat	The output file format, which supports PLY, PCD, and CSV file formats. See FileFormat for details.
[in]	fileName	The output file name.
[in]	isOrganized	An organized point cloud saves all points in order, with invalid data as nan, and an unorganized point cloud saves only valid points.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR Frame3D is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error writing point cloud file.

◆ savePointCloudWithNormals()

static ErrorStatus mmind::eye::Frame3D::savePointCloudWithNormals	(	const PointCloudWithNormals &	pointCloud,
		FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = `false`
	)

static

Saves the untextured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, normalX, normalY, and normalZ fields with the unit in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

Parameters

[in]	pointCloud	The input point cloud. See PointCloudWithNormals for details.
[in]	fileFormat	The output file format, which supports PLY, PCD, and CSV file formats.
[in]	fileName	The output file name.
[in]	isOrganized	An organized point cloud saves all points in order, with invalid data as nan, and an unorganized point cloud saves only valid points.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR Frame3D is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error writing point cloud file.

◆ saveUntexturedPointCloud()

ErrorStatus mmind::eye::Frame3D::saveUntexturedPointCloud	(	FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = `false`
	)		const

Saves the untextured point cloud to a file with input file format and input file name. Each point contains X, Y, and Z fields with the unit in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

Parameters

[in]	fileFormat	The output file format, which supports PLY, PCD, and CSV file formats. See FileFormat for details.
[in]	fileName	The output file name.
[in]	isOrganized	An organized point cloud saves all points in order, with invalid data as nan, and an unorganized point cloud saves only valid points.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR Frame3D is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error writing point cloud file.

◆ saveUntexturedPointCloudWithNormals()

ErrorStatus mmind::eye::Frame3D::saveUntexturedPointCloudWithNormals	(	FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = `false`
	)		const

Saves the untextured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, normalX, normalY, and normalZ fields with the unit in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

Parameters

[in]	fileFormat	The output file format, which supports PLY, PCD, and CSV file formats. See FileFormat for details.
[in]	fileName	The output file name.
[in]	isOrganized	An organized point cloud saves all points in order, with invalid data as nan, and an unorganized point cloud saves only valid points.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR Frame3D is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error writing point cloud file.

Friends And Related Symbol Documentation

◆ CameraImpl

friend class CameraImpl

friend

Definition at line 256 of file Frame3D.h.

◆ Frame2DAnd3D

friend class Frame2DAnd3D

friend

Definition at line 257 of file Frame3D.h.

The documentation for this class was generated from the following file:

include/camera/area_scan_3d_camera/Frame3D.h

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ getDepthMap()

◆ getOrthogonalDepthMap()

◆ getUntexturedPointCloud()

◆ getUntexturedPointCloudWithNormals()

◆ savePointCloud()

◆ savePointCloudWithNormals()

◆ saveUntexturedPointCloud()

◆ saveUntexturedPointCloudWithNormals()

Friends And Related Symbol Documentation

◆ CameraImpl

◆ Frame2DAnd3D