280 template<
typename DataFormat>
283 static_assert(HasCopyDataImplReturnArray2DTag<DataFormat>::value,
284 "The provided DataFormat is unsupported. Please refer to the documentation for "
285 "this method for the supported DataFormats.");
286 return copyDataImpl(ReturnArray2DTag<DataFormat>{});
348 template<
typename DataFormat>
351 static_assert(HasCopyDataImpl<DataFormat *>::value,
352 "The provided DataFormat is unsupported. Please refer to the documentation for "
353 "this method for the supported data formats.");
354 return copyDataImpl(destination);
412 struct ReturnArray2DTag
415 template<
typename... Args>
416 class HasCopyDataImplReturnArray2DTag
419 typename =
decltype(std::declval<C>().copyDataImpl(std::declval<ReturnArray2DTag<Args>>()...))>
420 static std::true_type test(
int);
422 static std::false_type test(...);
425 static constexpr bool value =
decltype(test<PointCloud>(0))::value;
428 template<
typename... Args>
429 class HasCopyDataImpl
431 template<typename C, typename = decltype(std::declval<C>().copyDataImpl(std::declval<Args>()...))>
432 static std::true_type test(
int);
434 static std::false_type test(...);
437 static constexpr bool value =
decltype(test<PointCloud>(0))::value;
440 ZIVID_CORE_EXPORT Array2D<PointXYZ> copyDataImpl(ReturnArray2DTag<PointXYZ> )
const;
441 ZIVID_CORE_EXPORT Array2D<PointXYZW> copyDataImpl(ReturnArray2DTag<PointXYZW> )
const;
443 ZIVID_CORE_EXPORT Array2D<ColorRGBA> copyDataImpl(ReturnArray2DTag<ColorRGBA> )
const;
444 ZIVID_CORE_EXPORT Array2D<PointXYZColorRGBA> copyDataImpl(ReturnArray2DTag<PointXYZColorRGBA> )
const;
445 ZIVID_CORE_EXPORT Array2D<PointXYZColorBGRA> copyDataImpl(ReturnArray2DTag<PointXYZColorBGRA> )
const;
447 ZIVID_CORE_EXPORT Array2D<NormalXYZ> copyDataImpl(ReturnArray2DTag<NormalXYZ> )
const;
457 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:115
ZIVID_CORE_EXPORT Array2D< PointXYZW > copyPointsXYZW() const
Array2D of point coordinates in 4D
ZIVID_CORE_EXPORT PointCloud & downsample(Downsampling downsampling)
Downsample the point cloud in-place
ZIVID_CORE_EXPORT Image< ColorRGBA > copyImageRGBA() const
Get point cloud colors as 8-bit RGBA image
void copyData(DataFormat *destination) const
Copy data in the specified DataFormat to a destination buffer
Definition: PointCloud.h:349
ZIVID_CORE_EXPORT Array2D< SNR > copySNRs() const
Array2D of SNR values
ZIVID_CORE_EXPORT PointCloud & transform(const Zivid::Matrix4x4 &matrix)
Transform the point cloud in-place by the given 4x4 transformation matrix
Downsampling
Option for downsampling
Definition: PointCloud.h:124
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 Array2D< PointXYZColorRGBA > copyPointsXYZColorsRGBA() const
Array2D of PointXYZColorRGBA
ZIVID_CORE_EXPORT std::string toString() const
Get string representation of the point cloud
Array2D< DataFormat > copyData() const
Array2D with point cloud data using specified DataFormat
Definition: PointCloud.h:281
ZIVID_CORE_EXPORT PointCloud()
Create an empty point cloud
ZIVID_CORE_EXPORT Array2D< NormalXYZ > copyNormalsXYZ() const
Array2D of NormalXYZ
ZIVID_CORE_EXPORT size_t width() const
Get the width of the point cloud (number of columns)
ZIVID_CORE_EXPORT Array2D< PointXYZ > copyPointsXYZ() const
Array2D of point coordinates
ZIVID_CORE_EXPORT Array2D< PointXYZColorBGRA > copyPointsXYZColorsBGRA() const
Array2D of PointXYZColorBGRA
ZIVID_CORE_EXPORT Array2D< PointZ > copyPointsZ() const
Array2D of Z coordinates
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)
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