265 template<
typename DataFormat>
268 static_assert(HasCopyDataImplReturnArray2DTag<DataFormat>::value,
269 "The provided DataFormat is unsupported. Please refer to the documentation for "
270 "this method for the supported DataFormats.");
271 return copyDataImpl(ReturnArray2DTag<DataFormat>{});
329 template<
typename DataFormat>
332 static_assert(HasCopyDataImpl<DataFormat *>::value,
333 "The provided DataFormat is unsupported. Please refer to the documentation for "
334 "this method for the supported data formats.");
335 return copyDataImpl(destination);
393 struct ReturnArray2DTag
396 template<
typename... Args>
397 class HasCopyDataImplReturnArray2DTag
400 typename = decltype(std::declval<C>().copyDataImpl(std::declval<ReturnArray2DTag<Args>>()...))>
401 static std::true_type test(
int);
403 static std::false_type test(...);
406 static constexpr
bool value = decltype(test<PointCloud>(0))::value;
409 template<
typename... Args>
410 class HasCopyDataImpl
412 template<typename C, typename = decltype(std::declval<C>().copyDataImpl(std::declval<Args>()...))>
413 static std::true_type test(
int);
415 static std::false_type test(...);
418 static constexpr
bool value = decltype(test<PointCloud>(0))::value;
421 ZIVID_CORE_EXPORT Array2D<PointXYZ> copyDataImpl(ReturnArray2DTag<PointXYZ> )
const;
422 ZIVID_CORE_EXPORT Array2D<PointXYZW> copyDataImpl(ReturnArray2DTag<PointXYZW> )
const;
424 ZIVID_CORE_EXPORT Array2D<ColorRGBA> copyDataImpl(ReturnArray2DTag<ColorRGBA> )
const;
425 ZIVID_CORE_EXPORT Array2D<PointXYZColorRGBA> copyDataImpl(ReturnArray2DTag<PointXYZColorRGBA> )
const;
426 ZIVID_CORE_EXPORT Array2D<PointXYZColorBGRA> copyDataImpl(ReturnArray2DTag<PointXYZColorBGRA> )
const;
436 std::shared_ptr<class PointCloudImpl> m_impl;
#define ZIVID_CORE_EXPORT
Definition: CoreExport.h:101
Two-dimensional container of data
Definition: Array2D.h:119
A 2-dimensional image
Definition: Image.h:115
Point cloud with x, y, z, RGB color and SNR laid out on a 2D grid
Definition: PointCloud.h:114
ZIVID_CORE_EXPORT PointCloud & downsample(Downsampling downsampling)
Downsample the point cloud in-place
ZIVID_CORE_EXPORT Array2D< PointXYZW > copyPointsXYZW() const
Array2D of point coordinates in 4D
void copyData(DataFormat *destination) const
Copy data in the specified DataFormat to a destination buffer
Definition: PointCloud.h:330
ZIVID_CORE_EXPORT Array2D< PointZ > copyPointsZ() const
Array2D of Z coordinates
ZIVID_CORE_EXPORT Image< ColorRGBA > copyImageRGBA() const
Get point cloud colors as 8-bit RGBA image
Downsampling
Option for downsampling
Definition: PointCloud.h:123
ZIVID_CORE_EXPORT Array2D< PointXYZColorRGBA > copyPointsXYZColorsRGBA() const
Array2D of PointXYZColorRGBA
Array2D< DataFormat > copyData() const
Array2D with point cloud data using specified DataFormat
Definition: PointCloud.h:266
ZIVID_CORE_EXPORT Array2D< ColorRGBA > copyColorsRGBA() const
Array2D of point colors in 8-bit RGBA format
ZIVID_CORE_EXPORT size_t size() const
Get the size of the point cloud (total number of points)
ZIVID_CORE_EXPORT std::string toString() const
Get string representation of the point cloud
ZIVID_CORE_EXPORT Array2D< PointXYZColorBGRA > copyPointsXYZColorsBGRA() const
Array2D of PointXYZColorBGRA
ZIVID_CORE_EXPORT Array2D< SNR > copySNRs() const
Array2D of SNR values
ZIVID_CORE_EXPORT PointCloud()
Create an empty point cloud
ZIVID_CORE_EXPORT Array2D< PointXYZ > copyPointsXYZ() const
Array2D of point coordinates
ZIVID_CORE_EXPORT size_t width() const
Get the width of the point cloud (number of columns)
ZIVID_CORE_EXPORT PointCloud downsampled(Downsampling downsampling) const
Get a downsampled point cloud
ZIVID_CORE_EXPORT bool isEmpty() const
Check if the point cloud is empty (contains zero points)
ZIVID_CORE_EXPORT size_t height() const
Get the height of the point cloud (number of rows)
ZIVID_CORE_EXPORT PointCloud & transform(const Zivid::Matrix4x4 &matrix)
Transform the point cloud in-place by the given 4x4 transformation matrix
The main Zivid namespace. All Zivid code is found here
Definition: Application.h:99
std::ostream & operator<<(std::ostream &stream, const Array2D< T > &array)
Serialize array information to a stream
Definition: Array2D.h:214