38#include "api_global.h"
40#include "ErrorStatus.h"
41#include "CommonTypes.h"
91enum struct FileFormat {
182 double& yOffset)
const;
199 bool isOrganized =
false)
const;
216 const std::string& fileName,
217 bool isOrganized =
false)
const;
235 const std::string& fileName,
bool isOrganized =
false);
252 FileFormat fileFormat,
const std::string& fileName,
253 bool isOrganized =
false);
256 friend class CameraImpl;
259 std::shared_ptr<class Frame3DImpl> _impl;
260 Frame3D(std::shared_ptr<Frame3DImpl>& frameImpl);
Represents a 2D container of data.
Represents the 2D and 3D scanning result, which can be obtained by calling Camera::capture2DAnd3D or ...
Represents the 3D scanning result, which can be obtained by calling Camera::capture3D or Camera::capt...
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....
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 orthogr...
void clear()
Clears the data in Frame3D and releases the related resources.
PointCloudWithNormals getUntexturedPointCloudWithNormals() const
Obtains the organized 3D data map with a PointXYZWithNormals pixel data format. Each point in PointCl...
bool isEmpty() const
Judges whether Frame3D is empty.
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....
Frame3D & operator=(const Frame3D &other) noexcept
Copy assignment.
Size imageSize() const
Gets the image size information of Frame3D.
Frame3D(const Frame3D &other) noexcept
Copy constructor.
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....
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....
DepthMap getDepthMap() const
Obtains the organized 3D data map with a PointZ pixel data format. Each point in DepthMap contains th...
PointCloud getUntexturedPointCloud() const
Obtains the organized 3D data map with a PointXYZ pixel data format. Each point in PointCloud contain...
Describes the types of errors.
The pixel element struct with normal vector X, Y, and Z information.
float y
Normal vector Y coordinate, invalid data: nan.
float z
Normal vector Z coordinate, invalid data: nan.
float x
Normal vector X coordinate, invalid data: nan.
The pixel element struct in UntexturedPointCloud with X, Y, and Z information.
float z
Z channel, unit: mm, invalid data: nan.
float y
Y channel, unit: mm, invalid data: nan.
float x
X channel, unit: mm, invalid data: nan.
The pixel element struct in UntexturedPointCloudWithNormals with X, Y, Z, normalX,...
The pixel element struct in DepthMap with Z information.
float z
Depth channel, unit: mm, invalid data: nan.
Describes a size with a width and a height.