Frame3D.h

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#pragma once
#include <memory>
#include "api_global.h"
#include "Array2D.h"
#include "ErrorStatus.h"
#include "CommonTypes.h"
 
namespace mmind {
 
namespace eye {
 
enum struct CoordinateUnit { Millimeter, Meter };
 
struct PointZ
{
    float z{0}; 
};
 
struct PointXYZ
{
    float x{0}; 
    float y{0}; 
    float z{0}; 
};
 
struct NormalVector
{
    float x{0};         
    float y{0};         
    float z{0};         
    float curvature{0}; 
};
 
struct PointXYZWithNormals
{
    PointXYZ point;
    NormalVector normal;
};
 
using DepthMap = Array2D<PointZ>;
using UntexturedPointCloud = Array2D<PointXYZ>;
using UntexturedPointCloudWithNormals = Array2D<PointXYZWithNormals>;
using PointCloud = UntexturedPointCloud;
using PointCloudWithNormals = UntexturedPointCloudWithNormals;
 
enum struct FileFormat {
    PLY,
    PCD,
    CSV,
};
 
class MMIND_API_EXPORT Frame3D
{
public:
    Frame3D();
 
    ~Frame3D();
 
    Frame3D(const Frame3D& other) noexcept;
 
    Frame3D& operator=(const Frame3D& other) noexcept;
 
    Size imageSize() const;
 
    uint64_t frameId() const;
 
    bool isEmpty() const;
 
    void clear();
 
    PointCloud getUntexturedPointCloud() const;
 
    PointCloudWithNormals getUntexturedPointCloudWithNormals() const;
 
    DepthMap getDepthMap() const;
 
    DepthMap getOrthogonalDepthMap(double& xScale, double& yScale, double& xOffset,
                                   double& yOffset) const;
 
    ErrorStatus saveUntexturedPointCloud(FileFormat fileFormat, const std::string& fileName,
                                         bool isOrganized = false) const;
 
    ErrorStatus saveUntexturedPointCloudWithNormals(FileFormat fileFormat,
                                                    const std::string& fileName,
                                                    bool isOrganized = false) const;
 
    static ErrorStatus savePointCloud(const PointCloud& pointCloud, FileFormat fileFormat,
                                      const std::string& fileName, bool isOrganized = false,
                                      CoordinateUnit pointCloudUnit = CoordinateUnit::Millimeter);
 
    static ErrorStatus savePointCloudWithNormals(
        const PointCloudWithNormals& pointCloud, FileFormat fileFormat, const std::string& fileName,
        bool isOrganized = false, CoordinateUnit pointCloudUnit = CoordinateUnit::Millimeter);
 
private:
    friend class CameraImpl;
    friend class Frame2DAnd3D;
    friend class InternalInterfaces;
 
    std::shared_ptr<class Frame3DImpl> _impl;
    Frame3D(std::shared_ptr<Frame3DImpl>& frameImpl);
};
 
} // namespace eye
 
} // namespace mmind