Frame2DAnd3D.h

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#pragma once
#include <memory>
#include "api_global.h"
#include "Frame2D.h"
#include "Frame3D.h"
 
namespace mmind {
 
namespace eye {
 
struct PointXYZBGR
{
    float x{0};   
    float y{0};   
    float z{0};   
    uint8_t b{0}; 
    uint8_t g{0}; 
    uint8_t r{0}; 
};
 
struct PointXYZBGRWithNormals
{
    PointXYZBGR colorPoint;
    NormalVector normal;
};
 
using TexturedPointCloud = Array2D<PointXYZBGR>;
using TexturedPointCloudWithNormals = Array2D<PointXYZBGRWithNormals>;
 
class MMIND_API_EXPORT Frame2DAnd3D
{
public:
    Frame2DAnd3D();
 
    ~Frame2DAnd3D();
 
    Frame2DAnd3D(const Frame2DAnd3D& other) noexcept;
 
    Frame2DAnd3D& operator=(const Frame2DAnd3D& other) noexcept;
 
    Frame2D frame2D() const;
 
    Frame3D frame3D() const;
 
    void clear();
 
    TexturedPointCloud getTexturedPointCloud() const;
 
    TexturedPointCloudWithNormals getTexturedPointCloudWithNormals() const;
 
    ErrorStatus saveTexturedPointCloud(FileFormat fileFormat, const std::string& fileName,
                                       bool isOrganized = false) const;
 
    ErrorStatus saveTexturedPointCloudWithNormals(FileFormat fileFormat,
                                                  const std::string& fileName,
                                                  bool isOrganized = false) const;
 
    static ErrorStatus savePointCloud(const TexturedPointCloud& pointCloud, FileFormat fileFormat,
                                      const std::string& fileName, bool isOrganized = false);
 
    static ErrorStatus savePointCloudWithNormals(const TexturedPointCloudWithNormals& pointCloud,
                                                 FileFormat fileFormat, const std::string& fileName,
                                                 bool isOrganized = false);
 
private:
    std::shared_ptr<class Frame2DAnd3DImpl> _impl;
    friend class CameraImpl;
    friend class InternalInterfaces;
    Frame2DAnd3D(Frame2DAnd3DImpl* frameImpl);
};
 
} // namespace eye
 
} // namespace mmind