Frame2DAnd3D.h

/*******************************************************************************
 * BSD 3-Clause License
 *
 * Copyright (c) 2016-2024, Mech-Mind Robotics
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * Info:  https://www.mech-mind.com/
 *
 ******************************************************************************/
 
#pragma once
#include <memory>
#include "api_global.h"
#include "Frame2D.h"
#include "Frame3D.h"
 
namespace mmind {
 
namespace eye {
 
struct PointXYZBGR
{
    PointXYZBGR() : PointXYZBGR(0, 0, 0, 255) {}
    PointXYZBGR(float x, float y, float z) : PointXYZBGR(x, y, z, 0, 0, 0, 255) {}
    PointXYZBGR(uint8_t b, uint8_t g, uint8_t r, uint8_t a) : PointXYZBGR(0, 0, 0, b, g, r, a) {}
    PointXYZBGR(float x, float y, float z, uint8_t b, uint8_t g, uint8_t r, uint8_t a = 255)
        : x(x), y(y), z(z), r(r), g(g), b(b), a(a)
    {
    }
    PointXYZBGR(const PointXYZBGR& p) : PointXYZBGR(p.x, p.y, p.z, p.b, p.g, p.r, p.a) {}
 
public:
    float x; 
    float y; 
    float z; 
 
    union {
        struct
        {
            uint8_t b; 
            uint8_t g; 
            uint8_t r; 
            uint8_t a; 
        };
        float rgb;
    };
};
 
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,
                                      CoordinateUnit pointCloudUnit = CoordinateUnit::Millimeter);
 
    static ErrorStatus savePointCloudWithNormals(
        const TexturedPointCloudWithNormals& pointCloud, FileFormat fileFormat,
        const std::string& fileName, bool isOrganized = false,
        CoordinateUnit pointCloudUnit = CoordinateUnit::Millimeter);
 
private:
    std::shared_ptr<class Frame2DAnd3DImpl> _impl;
    friend class CameraImpl;
    friend class InternalInterfaces;
    Frame2DAnd3D(Frame2DAnd3DImpl* frameImpl);
};
 
} // namespace eye
 
} // namespace mmind