ProfileData.h

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#pragma once
#include "api_global.h"
#include "BatchArray.h"
#include "CommonTypes.h"
#include "ErrorStatus.h"
 
namespace mmind {
namespace eye {
 
class ProfileBatchImpl;
 
struct Profile
{
    unsigned int profileIndex{0};            
    unsigned int encoder{0};                 
    const unsigned char* intensity{nullptr}; 
    const float* depth{nullptr}; 
};
 
struct PointXYZI
{
    float x{0};                 
    float y{0};                 
    float z{0};                 
    unsigned char intensity{0}; 
};
 
class MMIND_API_EXPORT ProfileBatch
{
public:
    enum class BatchFlag {
        Success =
            0, 
        Incomplete = 0x1, 
    };
 
    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>;
 
    ProfileBatch(size_t width);
 
    ~ProfileBatch() = default;
 
    size_t width() const;
 
    size_t height() const;
 
    size_t validHeight() const;
 
    bool isEmpty() const;
 
    void reserve(size_t height);
 
    bool append(const ProfileBatch& batch);
 
    void clear();
 
    Profile getProfile(size_t profileIndex) const;
 
    ProfileIndexArray getProfileIndexArray() const;
 
    EncoderArray getEncoderArray() const;
 
    IntensityImage getIntensityImage() const;
 
    DepthMap getDepthMap() const;
 
    UntexturedPointCloud getUntexturedPointCloud(
        double xResolution, double yResolution, bool useEncoderValues, int triggerInterval,
        CoordinateUnit coordinateUnit = CoordinateUnit::Millimeter) const;
 
    TexturedPointCloud getTexturedPointCloud(
        double xResolution, double yResolution, bool useEncoderValues, int triggerInterval,
        CoordinateUnit coordinateUnit = CoordinateUnit::Millimeter) const;
 
    ErrorStatus saveUntexturedPointCloud(double xResolution, double yResolution,
                                         bool useEncoderValues, int triggerInterval,
                                         FileFormat fileFormat, const std::string& fileName,
                                         CoordinateUnit coordinateUnit = CoordinateUnit::Millimeter,
                                         bool isOrganized = false) const;
 
    ErrorStatus saveTexturedPointCloud(double xResolution, double yResolution,
                                       bool useEncoderValues, int triggerInterval,
                                       FileFormat fileFormat, const std::string& fileName,
                                       CoordinateUnit coordinateUnit = CoordinateUnit::Millimeter,
                                       bool isOrganized = false) const;
 
    static ErrorStatus saveUntexturedPointCloud(
        const UntexturedPointCloud& pointCloud, FileFormat fileFormat, const std::string& fileName,
        bool isOrganized = false, CoordinateUnit coordinateUnit = CoordinateUnit::Millimeter);
 
    static ErrorStatus saveTexturedPointCloud(
        const TexturedPointCloud& pointCloud, FileFormat FileFormat, const std::string& fileName,
        bool isOrganized = false, CoordinateUnit coordinateUnit = CoordinateUnit::Millimeter);
 
    ErrorStatus getErrorStatus() const;
 
    int getFlag() const;
 
    bool checkFlag(BatchFlag flag) const;
 
    void flip(bool flipX, bool flipY);
 
private:
    std::shared_ptr<ProfileBatchImpl> _impl;
    friend class ProfilerImpl;
    friend class VirtualProfilerImpl;
};
} // namespace eye
} // namespace mmind