Represents a batch of profiles, which can be obtained by calling Profiler::retrieveBatchData(). It contains four elements of profile index, encoder value, intensity image, and depth map. More...

#include <ProfileData.h>

Public Types
enum class	BatchFlag { Success , Incomplete = 0x1 }
	Describes the status of the ProfileBatch object. More...

using	ProfileIndexArray = BatchArray< unsigned int >

using	EncoderArray = BatchArray< unsigned int >

using	IntensityImage = BatchArray< unsigned char >

using	DepthMap = BatchArray< float >

using	UntexturedPointCloud = BatchArray< PointXYZ >

using	PointCloud = UntexturedPointCloud

using	TexturedPointCloud = BatchArray< PointXYZI >

Public Member Functions
	ProfileBatch (size_t width)
	Constructor.

	~ProfileBatch ()=default
	Default destructor.

size_t	width () const
	Returns the width of the ProfileBatch object (the number of data points per profile).

size_t	height () const
	Returns the height of the ProfileBatch object (the number of profiles in the batch).

size_t	validHeight () const
	Returns the valid height of the ProfileBatch object (the number of profiles with valid intensity and depth data in the batch).

bool	isEmpty () const
	Checks if the ProfileBatch object has no elements.

void	reserve (size_t height)
	Reserves the input height for the ProfileBatch object.

bool	append (const ProfileBatch &batch)
	Appends the data of one ProfileBatch object to another.

void	clear ()
	Clears the data in the ProfileBatch object.

Profile	getProfile (size_t profileIndex) const
	Gets a profile in the batch by inputting the index of the profile.

ProfileIndexArray	getProfileIndexArray () const
	Gets an array of indices of all profiles in the batch. Each profile data corresponds to an index.

EncoderArray	getEncoderArray () const
	Gets an array of encoder values of all profiles in the batch. Each profile data corresponds to an encoder value.

IntensityImage	getIntensityImage () const
	Gets the intensity image data in the batch. The invalid data of intensity image is 0.

DepthMap	getDepthMap () const
	Gets the depth map data in the batch. Each point in DepthMap contains the Z information in the laser profiler coordinate system. The depth data unit is mm, and invalid data is nan.

UntexturedPointCloud	getUntexturedPointCloud (double xResolution, double yResolution, bool useEncoderValues, int triggerInterval, CoordinateUnit coordinateUnit=CoordinateUnit::Millimeter) const
	Gets the untextured point cloud data in the batch. Each point in UntexturedPointCloud contains the X, Y, and Z information in the laser profiler coordinate system. The space of the X coordinate data is determined by the xResolution argument. The X coordinate data is determined by the column index. The space of the Y coordinate data is determined by yResolution argument. The Y coordinate data is determined by the encoder values if the useEncoderValues argument is set to true and row index otherwise. The depth data unit is mm, and invalid data is nan.

TexturedPointCloud	getTexturedPointCloud (double xResolution, double yResolution, bool useEncoderValues, int triggerInterval, CoordinateUnit coordinateUnit=CoordinateUnit::Millimeter) const
	Gets the textured point cloud data in the batch. Each point in TexturedPointCloud contains the X, Y, Z, and Intensity information in the laser profiler coordinate system. The space of the X coordinate data is determined by the xResolution argument. The X coordinate data is determined by the column index. The space of the Y coordinate data is determined by yResolution argument. The Y coordinate data is determined by the encoder values if the useEncoderValues argument is set to true and row index otherwise. The depth data unit is mm, and invalid data is nan.

ErrorStatus	saveUntexturedPointCloud (double xResolution, double yResolution, bool useEncoderValues, int triggerInterval, FileFormat fileFormat, const std::string &fileName, CoordinateUnit coordinateUnit=CoordinateUnit::Millimeter, bool isOrganized=false) const
	Saves the untextured point cloud data in the batch. Each point in UntexturedPointCloud contains the X, Y, and Z information in the laser profiler coordinate system. The space of the X coordinate data is determined by the xResolution argument. The X coordinate data is determined by the column index. The space of the Y coordinate data is determined by yResolution argument. The Y coordinate data is determined by the encoder values if the useEncoderValues argument is set to true and row index otherwise. The depth data unit is mm, and invalid data is nan.

ErrorStatus	saveTexturedPointCloud (double xResolution, double yResolution, bool useEncoderValues, int triggerInterval, FileFormat fileFormat, const std::string &fileName, CoordinateUnit coordinateUnit=CoordinateUnit::Millimeter, bool isOrganized=false) const
	Saves the textured point cloud data in the batch. Each point in TexturedPointCloud contains the X, Y, Z, and Intensity information in the laser profiler coordinate system. The space of the X coordinate data is determined by the xResolution argument. The X coordinate data is determined by the column index. The space of the Y coordinate data is determined by yResolution argument. The Y coordinate data is determined by the encoder values if the useEncoderValues argument is set to true and row index otherwise. The depth data unit is mm, and invalid data is nan.

ErrorStatus	getErrorStatus () const
	Gets the error code and description of the function.

int	getFlag () const
	Gets the flags of the ProfileBatch object. See BatchFlag for details.

bool	checkFlag (BatchFlag flag) const
	Checks if the BatchFlag value of the ProfileBatch object matches the input value.

Static Public Member Functions
static ErrorStatus	saveUntexturedPointCloud (const UntexturedPointCloud &pointCloud, FileFormat fileFormat, const std::string &fileName, bool isOrganized=false, CoordinateUnit coordinateUnit=CoordinateUnit::Millimeter)
	Saves the untextured point cloud data in the batch. Each point in UntexturedPointCloud contains the X, Y, and Z information in the laser profiler coordinate system. The depth data unit is mm, and invalid data is nan.

static ErrorStatus	saveTexturedPointCloud (const TexturedPointCloud &pointCloud, FileFormat FileFormat, const std::string &fileName, bool isOrganized=false, CoordinateUnit coordinateUnit=CoordinateUnit::Millimeter)
	Saves the textured point cloud data in the batch. Each point in TexturedPointCloud contains the X, Y, Z, and Intensity information in the laser profiler coordinate system. The depth data unit is mm, and invalid data is nan.

Friends
class	ProfilerImpl

class	VirtualProfilerImpl

Detailed Description

Represents a batch of profiles, which can be obtained by calling Profiler::retrieveBatchData(). It contains four elements of profile index, encoder value, intensity image, and depth map.

Member Typedef Documentation

◆ DepthMap

using DepthMap = BatchArray<float>

◆ EncoderArray

using EncoderArray = BatchArray<unsigned int>

◆ IntensityImage

using IntensityImage = BatchArray<unsigned char>

◆ PointCloud

using PointCloud = UntexturedPointCloud

◆ ProfileIndexArray

using ProfileIndexArray = BatchArray<unsigned int>

◆ TexturedPointCloud

using TexturedPointCloud = BatchArray<PointXYZI>

◆ UntexturedPointCloud

using UntexturedPointCloud = BatchArray<PointXYZ>

Member Enumeration Documentation

◆ BatchFlag

enum class BatchFlag

strong

Describes the status of the ProfileBatch object.

Enumerator
Success	All profiles in the ProfileBatch object contain valid intensity and depth data.
Incomplete	Some profiles in the ProfileBatch object do not contain valid intensity and depth data.

Constructor & Destructor Documentation

◆ ProfileBatch()

ProfileBatch ( size_t width )

Constructor.

◆ ~ProfileBatch()

~ProfileBatch ( )

default

Default destructor.

Member Function Documentation

◆ append()

bool append ( const ProfileBatch & batch )

Appends the data of one ProfileBatch object to another.

◆ checkFlag()

bool checkFlag ( BatchFlag flag ) const

Checks if the BatchFlag value of the ProfileBatch object matches the input value.

◆ clear()

void clear ( )

Clears the data in the ProfileBatch object.

◆ getDepthMap()

DepthMap getDepthMap ( ) const

Gets the depth map data in the batch. Each point in DepthMap contains the Z information in the laser profiler coordinate system. The depth data unit is mm, and invalid data is nan.

◆ getEncoderArray()

EncoderArray getEncoderArray ( ) const

Gets an array of encoder values of all profiles in the batch. Each profile data corresponds to an encoder value.

◆ getErrorStatus()

ErrorStatus getErrorStatus ( ) const

Gets the error code and description of the function.

◆ getFlag()

int getFlag ( ) const

Gets the flags of the ProfileBatch object. See BatchFlag for details.

◆ getIntensityImage()

IntensityImage getIntensityImage ( ) const

Gets the intensity image data in the batch. The invalid data of intensity image is 0.

◆ getProfile()

Profile getProfile ( size_t profileIndex ) const

Gets a profile in the batch by inputting the index of the profile.

◆ getProfileIndexArray()

ProfileIndexArray getProfileIndexArray ( ) const

Gets an array of indices of all profiles in the batch. Each profile data corresponds to an index.

◆ getTexturedPointCloud()

TexturedPointCloud getTexturedPointCloud	(	double	xResolution,
		double	yResolution,
		bool	useEncoderValues,
		int	triggerInterval,
		CoordinateUnit	coordinateUnit = `CoordinateUnit::Millimeter`
	)		const

Gets the textured point cloud data in the batch. Each point in TexturedPointCloud contains the X, Y, Z, and Intensity information in the laser profiler coordinate system. The space of the X coordinate data is determined by the xResolution argument. The X coordinate data is determined by the column index. The space of the Y coordinate data is determined by yResolution argument. The Y coordinate data is determined by the encoder values if the useEncoderValues argument is set to true and row index otherwise. The depth data unit is mm, and invalid data is nan.

Parameters

[in]	xResolution	determines the space of the X coordinate data.
[in]	yResolution	determines the space of the Y coordinate data.
[in]	useEncoderValues	determines whether to use the encoder values or row index as the data source for Y coordinate data.
[in]	triggerInterval	trigger interval of the encoder values.
[in]	coordinateUnit	the coordinate unit of the point cloud.

Returns: See UntexturedPointCloud for details.

◆ getUntexturedPointCloud()

UntexturedPointCloud getUntexturedPointCloud	(	double	xResolution,
		double	yResolution,
		bool	useEncoderValues,
		int	triggerInterval,
		CoordinateUnit	coordinateUnit = `CoordinateUnit::Millimeter`
	)		const

Gets the untextured point cloud data in the batch. Each point in UntexturedPointCloud contains the X, Y, and Z information in the laser profiler coordinate system. The space of the X coordinate data is determined by the xResolution argument. The X coordinate data is determined by the column index. The space of the Y coordinate data is determined by yResolution argument. The Y coordinate data is determined by the encoder values if the useEncoderValues argument is set to true and row index otherwise. The depth data unit is mm, and invalid data is nan.

Parameters

[in]	xResolution	determines the space of the X coordinate data.
[in]	yResolution	determines the space of the Y coordinate data.
[in]	useEncoderValues	determines whether to use the encoder values or row index as the data source for Y coordinate data.
[in]	triggerInterval	trigger interval of the encoder values.
[in]	coordinateUnit	the coordinate unit of the point cloud.

Returns: See UntexturedPointCloud for details.

◆ height()

size_t height ( ) const

Returns the height of the ProfileBatch object (the number of profiles in the batch).

◆ isEmpty()

bool isEmpty ( ) const

Checks if the ProfileBatch object has no elements.

◆ reserve()

void reserve ( size_t height )

Reserves the input height for the ProfileBatch object.

◆ saveTexturedPointCloud() [1/2]

static ErrorStatus saveTexturedPointCloud	(	const TexturedPointCloud &	pointCloud,
		FileFormat	FileFormat,
		const std::string &	fileName,
		bool	isOrganized = `false`,
		CoordinateUnit	coordinateUnit = `CoordinateUnit::Millimeter`
	)

static

Saves the textured point cloud data in the batch. Each point in TexturedPointCloud contains the X, Y, Z, and Intensity information in the laser profiler coordinate system. The depth data unit is mm, and invalid data is nan.

Parameters

[in]	pointCloud	The point cloud to be saved. See TexturedPointCloud 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]	coordinateUnit	the coordinate unit of the point cloud.

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

◆ saveTexturedPointCloud() [2/2]

ErrorStatus saveTexturedPointCloud	(	double	xResolution,
		double	yResolution,
		bool	useEncoderValues,
		int	triggerInterval,
		FileFormat	fileFormat,
		const std::string &	fileName,
		CoordinateUnit	coordinateUnit = `CoordinateUnit::Millimeter`,
		bool	isOrganized = `false`
	)		const

Saves the textured point cloud data in the batch. Each point in TexturedPointCloud contains the X, Y, Z, and Intensity information in the laser profiler coordinate system. The space of the X coordinate data is determined by the xResolution argument. The X coordinate data is determined by the column index. The space of the Y coordinate data is determined by yResolution argument. The Y coordinate data is determined by the encoder values if the useEncoderValues argument is set to true and row index otherwise. The depth data unit is mm, and invalid data is nan.

Parameters

[in]	xResolution	determines the space of the X coordinate data.
[in]	yResolution	determines the space of the Y coordinate data.
[in]	useEncoderValues	determines whether to use the encoder values or row index as the data source for Y coordinate data.
[in]	triggerInterval	trigger interval of the encoder values.
[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]	coordinateUnit	the coordinate unit of the point cloud.
[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 ProfileBatch is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error occurred while writing the point cloud file.

◆ saveUntexturedPointCloud() [1/2]

static ErrorStatus saveUntexturedPointCloud	(	const UntexturedPointCloud &	pointCloud,
		FileFormat	fileFormat,
		const std::string &	fileName,
		bool	isOrganized = `false`,
		CoordinateUnit	coordinateUnit = `CoordinateUnit::Millimeter`
	)

static

Saves the untextured point cloud data in the batch. Each point in UntexturedPointCloud contains the X, Y, and Z information in the laser profiler coordinate system. The depth data unit is mm, and invalid data is nan.

Parameters

[in]	pointCloud	The point cloud to be saved. See UntexturedPointCloud 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]	coordinateUnit	the coordinate unit of the point cloud.

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

◆ saveUntexturedPointCloud() [2/2]

ErrorStatus saveUntexturedPointCloud	(	double	xResolution,
		double	yResolution,
		bool	useEncoderValues,
		int	triggerInterval,
		FileFormat	fileFormat,
		const std::string &	fileName,
		CoordinateUnit	coordinateUnit = `CoordinateUnit::Millimeter`,
		bool	isOrganized = `false`
	)		const

Saves the untextured point cloud data in the batch. Each point in UntexturedPointCloud contains the X, Y, and Z information in the laser profiler coordinate system. The space of the X coordinate data is determined by the xResolution argument. The X coordinate data is determined by the column index. The space of the Y coordinate data is determined by yResolution argument. The Y coordinate data is determined by the encoder values if the useEncoderValues argument is set to true and row index otherwise. The depth data unit is mm, and invalid data is nan.

Parameters

[in]	xResolution	determines the space of the X coordinate data.
[in]	yResolution	determines the space of the Y coordinate data.
[in]	useEncoderValues	determines whether to use the encoder values or row index as the data source for Y coordinate data.
[in]	triggerInterval	trigger interval of the encoder values.
[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]	coordinateUnit	the coordinate unit of the point cloud.
[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 ProfileBatch is empty.
ErrorStatus::MMIND_STATUS_FILE_IO_ERROR Error occurred while writing the point cloud file.

◆ validHeight()

size_t validHeight ( ) const

Returns the valid height of the ProfileBatch object (the number of profiles with valid intensity and depth data in the batch).

◆ width()

size_t width ( ) const

Returns the width of the ProfileBatch object (the number of data points per profile).

Friends And Related Symbol Documentation

◆ ProfilerImpl

friend class ProfilerImpl

friend

◆ VirtualProfilerImpl

friend class VirtualProfilerImpl

friend

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

profiler/ProfileData.h

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ DepthMap

◆ EncoderArray

◆ IntensityImage

◆ PointCloud

◆ ProfileIndexArray

◆ TexturedPointCloud

◆ UntexturedPointCloud

Member Enumeration Documentation

◆ BatchFlag

Constructor & Destructor Documentation

◆ ProfileBatch()

◆ ~ProfileBatch()

Member Function Documentation

◆ append()

◆ checkFlag()

◆ clear()

◆ getDepthMap()

◆ getEncoderArray()

◆ getErrorStatus()

◆ getFlag()

◆ getIntensityImage()

◆ getProfile()

◆ getProfileIndexArray()

◆ getTexturedPointCloud()

◆ getUntexturedPointCloud()

◆ height()

◆ isEmpty()

◆ reserve()

◆ saveTexturedPointCloud() [1/2]

◆ saveTexturedPointCloud() [2/2]

◆ saveUntexturedPointCloud() [1/2]

◆ saveUntexturedPointCloud() [2/2]

◆ validHeight()

◆ width()

Friends And Related Symbol Documentation

◆ ProfilerImpl

◆ VirtualProfilerImpl