Represents the 2D and 3D capture results, which can be obtained by calling Camera::capture2DAnd3D. The 3D data can be in the form of PointZ or PointXYZ and is stored in a 2D array, with each element in the array representing a point. The class also provides methods for saving the point cloud data to a local 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 associated resources.

TexturedPointCloud	getTexturedPointCloud () const
	Gets the 2D and 3D data aligned pixel-to-pixel with the PointXYZBGR data format. Each point in TexturedPointCloud contains the coordinate data in the camera reference frame and texture information. The unit of the coordinates is millimeter, and the invalid data is represented by "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 of the input file format and filename. Each point contains x, y, z, blue, green, and red fields. The unit of the coordinate data is millimeter. Point cloud can be saved in organized or unorganized structure with ACSII mode.

ErrorStatus	saveTexturedPointCloudWithNormals (FileFormat fileFormat, const std::string &fileName, bool isOrganized=false) const
	Saves the textured point cloud to a file of the input file format and filename. Each point contains x, y, z, blue, green, red, normalX, normalY, and normalZ fields. The unit of the coordinate is millimeter. Point cloud can be saved in organized or unorganized structure 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 of the input file format and filename. Each point contains x, y, z, blue, green, and red fields. The unit of the coordinate data is millimeter. Point cloud can be saved in organized or unorganized structure 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 of the input file format and filename. Each point contains x, y, z, blue, green, red, normalX, normalY, and normalZ fields. The unit of the coordinate data is millimeter. Point cloud can be saved in organized or unorganized structure with ACSII mode.

Friends
class	CameraImpl

class	InternalInterfaces

Detailed Description

Represents the 2D and 3D capture results, which can be obtained by calling Camera::capture2DAnd3D. The 3D data can be in the form of PointZ or PointXYZ and is stored in a 2D array, with each element in the array representing a point. The class also provides methods for saving the point cloud data to a local file.

Definition at line 80 of file Frame2DAnd3D.h.

Member Function Documentation

◆ getTexturedPointCloud()

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

Gets the 2D and 3D data aligned pixel-to-pixel with the PointXYZBGR data format. Each point in TexturedPointCloud contains the coordinate data in the camera reference frame and texture information. The unit of the coordinates is millimeter, and the invalid data is represented by "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 of the input file format and filename. Each point contains x, y, z, blue, green, and red fields. The unit of the coordinate data is millimeter. Point cloud can be saved in organized or unorganized structure with ACSII mode.

Parameters

[in]	pointCloud	The point cloud data to be saved. See TexturedPointCloud for details.
[in]	fileFormat	The format of the point cloud file. Possible values include PLY, PCD, and CSV.
[in]	fileName	The filename of the point cloud file.
[in]	isOrganized	Whether the point cloud is organized. 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 occurred while writing the 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 of the input file format and filename. Each point contains x, y, z, blue, green, red, normalX, normalY, and normalZ fields. The unit of the coordinate data is millimeter. Point cloud can be saved in organized or unorganized structure with ACSII mode.

Parameters

[in]	pointCloud	The point cloud data to be saved. See TexturedPointCloudWithNormals for details.
[in]	fileFormat	The format of the point cloud file. Possible values include PLY, PCD, and CSV.
[in]	fileName	The filename of the point cloud file.
[in]	isOrganized	Whether the point cloud is organized. 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 occurred while writing the 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 of the input file format and filename. Each point contains x, y, z, blue, green, and red fields. The unit of the coordinate data is millimeter. Point cloud can be saved in organized or unorganized structure with ACSII mode.

Parameters

[in]	fileFormat	The format of the point cloud file. Possible values include PLY, PCD, and CSV. See FileFormat for details.
[in]	fileName	The filename of the point cloud file.
[in]	isOrganized	Whether the point cloud is organized. 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 occurred while writing the 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 of the input file format and filename. Each point contains x, y, z, blue, green, red, normalX, normalY, and normalZ fields. The unit of the coordinate is millimeter. Point cloud can be saved in organized or unorganized structure with ACSII mode.

Parameters

[in]	fileFormat	The format of the point cloud file. Possible values include PLY, PCD, and CSV. See FileFormat for details. See FileFormat for details.
[in]	fileName	The filename of the point cloud file.
[in]	isOrganized	Whether the point cloud is organized. An organized point cloud saves all points in order, with invalid data as nan, and an unorganized point cloud saves only valid points. ErrorStatus::MMIND_STATUS_SUCCESS Success. ErrorStatus::MMIND_STATUS_NO_DATA_ERROR Frame2DAnd3D is empty. ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error occurred while writing the point cloud file.

Friends And Related Symbol Documentation

◆ CameraImpl

friend class CameraImpl

friend

Definition at line 224 of file Frame2DAnd3D.h.

◆ InternalInterfaces

friend class InternalInterfaces

friend

Definition at line 225 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

◆ InternalInterfaces