Represents the 3D capture result, which can be obtained by calling Camera::capture3D. 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 <Frame3D.h>

Public Member Functions
	Frame3D ()
	Constructor.

	~Frame3D ()
	Destructor.

	Frame3D (const Frame3D &other) noexcept
	Copy constructor.

Frame3D &	operator= (const Frame3D &other) noexcept
	Copy assignment.

Size	imageSize () const
	Gets the image size of Frame3D.

uint64_t	frameId () const
	The ID of the Frame3D frame.

bool	isEmpty () const
	Judges whether Frame3D is empty.

void	clear ()
	Clears the data in Frame3D and releases the associated resources.

PointCloud	getUntexturedPointCloud () const
	Gets the organized 3D data map with a PointXYZ pixel data format. Each point in PointCloud contains the X, Y, and Z data represented in the camera coordinate system. The X, Y, and Z data default unit is in mm (You can change the unit by calling Camera::setPointCloudUnit before calling Camera::capture3D), and invalid data is in nan.

PointCloudWithNormals	getUntexturedPointCloudWithNormals () const
	Gets the organized 3D data map with a PointXYZWithNormals pixel data format. Each point in PointCloudWithNormals contains the X, Y, Z data represented in the camera coordinate system. The X, Y, and Z data default unit is in mm (You can change the unit by calling Camera::setPointCloudUnit before calling Camera::capture3D), and invalid data is in nan. Normal vectors are computed for each point. If the Frame3D is obtained by Camera::capture3DWithNormal, the normal vectors are computed at the camera side.

DepthMap	getDepthMap () const
	Gets the organized 3D data with the PointZ data format. Each point in DepthMap contains the depth (z-coordinate) data in the camera refrence frame. If the application only requires the depth data, obtaining the DepthMap is more efficient. The default unit of the depth data is millimeter (You can change the unit by calling Camera::setPointCloudUnit before calling Camera::capture3D), and the invalid data is represented by "nan".

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 projection camera model. Four parameters are provided to assist in converting depth pixel positions into coordinate values in the camera reference frame according to the following equation: X = col * xScale + xOffset, Y = row * yScale + yOffset.

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 x, y, and z fields. The default unit of the coordinate data is millimeter (You can change the unit by calling Camera::setPointCloudUnit before calling Camera::capture3D). Point cloud can be saved in organized or unorganized structure with ACSII mode.

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 x, y, z, normalX, normalY, and normalZ fields. The default unit of the coordinate data is millimeter (You can change the unit by calling Camera::setPointCloudUnit before calling Camera::capture3D). Point cloud can be saved in organized or unorganized structure with ACSII mode.

Static Public Member Functions
static ErrorStatus	savePointCloud (const PointCloud &pointCloud, FileFormat fileFormat, const std::string &fileName, bool isOrganized=false, CoordinateUnit pointCloudUnit=CoordinateUnit::Millimeter)
	Saves the untextured point cloud to a file of the input file format and filename. Each point contains x, y, and z fields. The default unit of the coordinate data is millimeter. Point cloud can be saved in organized or unorganized structure with ACSII mode.

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

Friends
class	CameraImpl

class	Frame2DAnd3D

class	InternalInterfaces

Detailed Description

Represents the 3D capture result, which can be obtained by calling Camera::capture3D. 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 111 of file Frame3D.h.

Member Function Documentation

◆ getDepthMap()

DepthMap mmind::eye::Frame3D::getDepthMap ( ) const

Gets the organized 3D data with the PointZ data format. Each point in DepthMap contains the depth (z-coordinate) data in the camera refrence frame. If the application only requires the depth data, obtaining the DepthMap is more efficient. The default unit of the depth data is millimeter (You can change the unit by calling Camera::setPointCloudUnit before calling Camera::capture3D), and the invalid data is represented by "nan".

Returns: See DepthMap for details.

◆ getOrthogonalDepthMap()

DepthMap mmind::eye::Frame3D::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 projection camera model. Four parameters are provided to assist in converting depth pixel positions into coordinate values in the camera reference frame according to the following equation: X = col * xScale + xOffset, Y = row * yScale + yOffset.

Parameters

[out]	xScale	The output parameter.
[out]	yScale	The output parameter.
[out]	xOffset	The output parameter.
[out]	yOffset	The output parameter.

Returns: See DepthMap for details.

◆ getUntexturedPointCloud()

PointCloud mmind::eye::Frame3D::getUntexturedPointCloud ( ) const

Gets the organized 3D data map with a PointXYZ pixel data format. Each point in PointCloud contains the X, Y, and Z data represented in the camera coordinate system. The X, Y, and Z data default unit is in mm (You can change the unit by calling Camera::setPointCloudUnit before calling Camera::capture3D), and invalid data is in nan.

Returns: See PointCloud for details.

◆ getUntexturedPointCloudWithNormals()

PointCloudWithNormals mmind::eye::Frame3D::getUntexturedPointCloudWithNormals ( ) const

Gets the organized 3D data map with a PointXYZWithNormals pixel data format. Each point in PointCloudWithNormals contains the X, Y, Z data represented in the camera coordinate system. The X, Y, and Z data default unit is in mm (You can change the unit by calling Camera::setPointCloudUnit before calling Camera::capture3D), and invalid data is in nan. Normal vectors are computed for each point. If the Frame3D is obtained by Camera::capture3DWithNormal, the normal vectors are computed at the camera side.

Returns: See PointCloudWithNormals for details.

◆ savePointCloud()

static ErrorStatus mmind::eye::Frame3D::savePointCloud	(	const PointCloud &	pointCloud,
		FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = false,
		CoordinateUnit	pointCloudUnit = CoordinateUnit::Millimeter )

static

Saves the untextured point cloud to a file of the input file format and filename. Each point contains x, y, and z fields. The default 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 PointCloud for details.
[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.
[in]	pointCloudUnit	The unit of the coordinate data.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR Frame3D is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error occurred while writing the point cloud file.

◆ savePointCloudWithNormals()

static ErrorStatus mmind::eye::Frame3D::savePointCloudWithNormals	(	const PointCloudWithNormals &	pointCloud,
		FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = false,
		CoordinateUnit	pointCloudUnit = CoordinateUnit::Millimeter )

static

Saves the untextured point cloud to a file of the input file format and filename. Each point contains x, y, z, normalX, normalY, and normalZ fields. The default 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 PointCloudWithNormals for details.
[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.
[in]	pointCloudUnit	The unit of the coordinate data.

Returns: ErrorStatus::MMIND_STATUS_SUCCESS Success.
ErrorStatus::MMIND_STATUS_NO_DATA_ERROR Frame3D is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error occurred while writing the point cloud file.

◆ saveUntexturedPointCloud()

ErrorStatus mmind::eye::Frame3D::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 x, y, and z fields. The default unit of the coordinate data is millimeter (You can change the unit by calling Camera::setPointCloudUnit before calling Camera::capture3D). 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 Frame3D is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error occurred while writing the point cloud file.

◆ saveUntexturedPointCloudWithNormals()

ErrorStatus mmind::eye::Frame3D::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 x, y, z, normalX, normalY, and normalZ fields. The default unit of the coordinate data is millimeter (You can change the unit by calling Camera::setPointCloudUnit before calling Camera::capture3D). 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 Frame3D 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 290 of file Frame3D.h.

◆ Frame2DAnd3D

friend class Frame2DAnd3D

friend

Definition at line 291 of file Frame3D.h.

◆ InternalInterfaces

friend class InternalInterfaces

friend

Definition at line 292 of file Frame3D.h.

The documentation for this class was generated from the following file:

area_scan_3d_camera/Frame3D.h

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ getDepthMap()

◆ getOrthogonalDepthMap()

◆ getUntexturedPointCloud()

◆ getUntexturedPointCloudWithNormals()

◆ savePointCloud()

◆ savePointCloudWithNormals()

◆ saveUntexturedPointCloud()

◆ saveUntexturedPointCloudWithNormals()

Friends And Related Symbol Documentation

◆ CameraImpl

◆ Frame2DAnd3D

◆ InternalInterfaces