PointCloudConfig.cpp

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#include "depthai/pipeline/datatype/PointCloudConfig.hpp"
 
namespace dai {
 
std::shared_ptr<RawBuffer> PointCloudConfig::serialize() const {
    return raw;
}
 
PointCloudConfig::PointCloudConfig() : Buffer(std::make_shared<RawPointCloudConfig>()), cfg(*dynamic_cast<RawPointCloudConfig*>(raw.get())) {}
PointCloudConfig::PointCloudConfig(std::shared_ptr<RawPointCloudConfig> ptr) : Buffer(std::move(ptr)), cfg(*dynamic_cast<RawPointCloudConfig*>(raw.get())) {}
 
dai::RawPointCloudConfig PointCloudConfig::get() const {
    return cfg;
}
 
bool PointCloudConfig::getSparse() const {
    return cfg.sparse;
}
 
std::array<std::array<float, 4>, 4> PointCloudConfig::getTransformationMatrix() const {
    return cfg.transformationMatrix;
}
 
PointCloudConfig& PointCloudConfig::set(dai::RawPointCloudConfig config) {
    cfg = std::move(config);
    return *this;
}
 
PointCloudConfig& PointCloudConfig::setSparse(bool enable) {
    cfg.sparse = enable;
    return *this;
}
 
PointCloudConfig& PointCloudConfig::setTransformationMatrix(const std::array<std::array<float, 4>, 4>& transformationMatrix) {
    cfg.transformationMatrix = transformationMatrix;
    return *this;
}
 
PointCloudConfig& PointCloudConfig::setTransformationMatrix(const std::array<std::array<float, 3>, 3>& transformationMatrix) {
    cfg.transformationMatrix = {{{transformationMatrix[0][0], transformationMatrix[0][1], transformationMatrix[0][2], 0},
                                 {transformationMatrix[1][0], transformationMatrix[1][1], transformationMatrix[1][2], 0},
                                 {transformationMatrix[2][0], transformationMatrix[2][1], transformationMatrix[2][2], 0},
                                 {0, 0, 0, 1}}};
    return *this;
}
 
}  // namespace dai