Represents the 2D and 3D scanning result, which can be obtained by calling Camera::capture2DAnd3D or Camera.captureAll2D3DWithNormal. 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, and PointXYZWithNormal. The class supports saving 3D point cloud data to the file. More...

#include <Frame2DAnd3D.h>

Public Member Functions
	Frame2DAnd3D ()
	Constructor.

	~Frame2DAnd3D ()
	Destructor.

	Frame2DAnd3D (const Frame2DAnd3D &other) noexcept
	Copy constructor.

Frame2DAnd3D &	operator= (const Frame2DAnd3D &other) noexcept
	Copy assignment.

Frame2D	frame2D () const
	Gets the Frame2D data part.

Frame3D	frame3D () const
	Gets the Frame3D data part.

void	clear ()
	Clears the data in Frame2DAnd3D and releases the related resources.

TexturedPointCloud	getTexturedPointCloud () const
	Gets the pixel-aligned 2D and 3D data with the PointXYZBGR pixel data format. Each point in TexturedPointCloud contains the X, Y, and Z data represented in the camera coordinate system and the texture information. X, Y, and Z data unit is in mm, and invalid data is in nan.

TexturedPointCloudWithNormals	getTexturedPointCloudWithNormals () const
	Gets the pixel-aligned 2D and 3D data with the PointXYZBGRWithNormals pixel data format. Each point in TexturedPointCloudWithNormals contains the X, Y, and Z data represented in the camera coordinate system and the texture information. X, Y, and Z data unit is in mm, and invalid data is in nan. Normal vectors are computed for each point. If the Frame2DAnd3D is obtained by Camera::capture2DAnd3DWithNormal, the normal vectors are computed at the camera side.

ErrorStatus	saveTexturedPointCloud (FileFormat fileFormat, const std::string &fileName, bool isOrganized=false) const
	Saves the textured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, blue, green, and red fields. The 3D data unit is in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

ErrorStatus	saveTexturedPointCloudWithNormals (FileFormat fileFormat, const std::string &fileName, bool isOrganized=false) const
	Saves the textured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, blue, green, red, normalX, normalY, and normalZ fields. The 3D data unit is in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

Static Public Member Functions
static ErrorStatus	savePointCloud (const TexturedPointCloud &pointCloud, FileFormat fileFormat, const std::string &fileName, bool isOrganized=false)
	Saves the textured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, blue, green, and red fields. The 3D data unit is in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

static ErrorStatus	savePointCloudWithNormals (const TexturedPointCloudWithNormals &pointCloud, FileFormat fileFormat, const std::string &fileName, bool isOrganized=false)
	Saves the textured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, blue, green, red, normalX, normalY, and normalZ fields. The 3D data unit is in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

Friends
class	CameraImpl

Detailed Description

Represents the 2D and 3D scanning result, which can be obtained by calling Camera::capture2DAnd3D or Camera.captureAll2D3DWithNormal. 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, and PointXYZWithNormal. The class supports saving 3D point cloud data to the file.

Definition at line 80 of file Frame2DAnd3D.h.

Member Function Documentation

◆ getTexturedPointCloud()

TexturedPointCloud mmind::eye::Frame2DAnd3D::getTexturedPointCloud ( ) const

Gets the pixel-aligned 2D and 3D data with the PointXYZBGR pixel data format. Each point in TexturedPointCloud contains the X, Y, and Z data represented in the camera coordinate system and the texture information. X, Y, and Z data unit is in mm, and invalid data is in nan.

Returns: See TexturedPointCloud for details.

◆ getTexturedPointCloudWithNormals()

TexturedPointCloudWithNormals mmind::eye::Frame2DAnd3D::getTexturedPointCloudWithNormals ( ) const

Gets the pixel-aligned 2D and 3D data with the PointXYZBGRWithNormals pixel data format. Each point in TexturedPointCloudWithNormals contains the X, Y, and Z data represented in the camera coordinate system and the texture information. X, Y, and Z data unit is in mm, and invalid data is in nan. Normal vectors are computed for each point. If the Frame2DAnd3D is obtained by Camera::capture2DAnd3DWithNormal, the normal vectors are computed at the camera side.

Returns: See TexturedPointCloudWithNormals for details.

◆ savePointCloud()

static ErrorStatus mmind::eye::Frame2DAnd3D::savePointCloud	(	const TexturedPointCloud &	pointCloud,
		FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = `false`
	)

static

Saves the textured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, blue, green, and red fields. The 3D data unit is in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

Parameters

[in]	pointCloud	The input point cloud. See TexturedPointCloud 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 Frame2DAnd3D is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error writing point cloud file.

◆ savePointCloudWithNormals()

static ErrorStatus mmind::eye::Frame2DAnd3D::savePointCloudWithNormals	(	const TexturedPointCloudWithNormals &	pointCloud,
		FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = `false`
	)

static

Saves the textured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, blue, green, red, normalX, normalY, and normalZ fields. The 3D data unit is in mm. Point cloud can be saved in organized or unorganized form with ACSII mode.

Parameters

[in]	pointCloud	The input point cloud. See TexturedPointCloudWithNormals 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 Frame2DAnd3D is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error writing point cloud file.

◆ saveTexturedPointCloud()

ErrorStatus mmind::eye::Frame2DAnd3D::saveTexturedPointCloud	(	FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = `false`
	)		const

Saves the textured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, blue, green, and red fields. The 3D data unit is 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 Frame2DAnd3D is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error writing point cloud file.

◆ saveTexturedPointCloudWithNormals()

ErrorStatus mmind::eye::Frame2DAnd3D::saveTexturedPointCloudWithNormals	(	FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = `false`
	)		const

Saves the textured point cloud to a file with input file format and input file name. Each point contains X, Y, Z, blue, green, red, normalX, normalY, and normalZ fields. The 3D data unit is 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 Frame2DAnd3D 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 214 of file Frame2DAnd3D.h.

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

include/camera/area_scan_3d_camera/Frame2DAnd3D.h

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ getTexturedPointCloud()

◆ getTexturedPointCloudWithNormals()

◆ savePointCloud()

◆ savePointCloudWithNormals()

◆ saveTexturedPointCloud()

◆ saveTexturedPointCloudWithNormals()

Friends And Related Symbol Documentation

◆ CameraImpl