38#include "api_global.h"
40#include "ErrorStatus.h"
41#include "CommonTypes.h"
91enum struct FileFormat {
270 friend class CameraImpl;
272 friend class InternalInterfaces;
274 std::shared_ptr<class Frame3DImpl> _impl;
Represents a 2D container of data.
Represents the 2D and 3D capture results, which can be obtained by calling Camera::capture2DAnd3D....
Represents the 3D capture result, which can be obtained by calling Camera::capture3D....
ErrorStatus saveUntexturedPointCloudWithNormals(FileFormat fileFormat, const std::string &fileName, bool isOrganized=false) const
Saves the untextured point cloud to a file of the input file format and filename. Each point contains...
DepthMap getOrthogonalDepthMap(double &xScale, double &yScale, double &xOffset, double &yOffset) const
Obtains the 3D data with the PointZ data format. The 3D data is projected under the orthographic proj...
void clear()
Clears the data in Frame3D and releases the associated resources.
PointCloudWithNormals getUntexturedPointCloudWithNormals() const
Gets the organized 3D data map with a PointXYZWithNormals pixel data format. Each point in PointCloud...
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 of the input file format and filename. Each point contains...
Frame3D & operator=(const Frame3D &other) noexcept
Copy assignment.
Size imageSize() const
Gets the image size 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 of the input file format and filename. Each point contains...
static ErrorStatus savePointCloud(const PointCloud &pointCloud, FileFormat fileFormat, const std::string &fileName, bool isOrganized=false)
Saves the untextured point cloud to a file of the input file format and filename. Each point contains...
DepthMap getDepthMap() const
Gets the organized 3D data with the PointZ data format. Each point in DepthMap contains the depth (z-...
PointCloud getUntexturedPointCloud() const
Gets the organized 3D data map with a PointXYZ pixel data format. Each point in PointCloud contains t...
Describes the types of errors.
The pixel element struct with the normal vector coordinate (x, y, 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.
Represents a point in UntexturedPointCloud with the coordinate (x, y, 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 the coordinate (x,...
Represents a point in DepthMap with the depth (z-coordinate) information.
float z
Depth channel, unit: mm, invalid data: nan.
Describes a two-dimensional size with a width and a height.