PointCloudData.hpp

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#pragma once
 
#include <unordered_map>
#include <vector>
 
#include "depthai-shared/common/Point3f.hpp"
#include "depthai-shared/datatype/RawPointCloudData.hpp"
#include "depthai/build/config.hpp"
#include "depthai/pipeline/datatype/Buffer.hpp"
 
// optional
#ifdef DEPTHAI_HAVE_PCL_SUPPORT
    #include <pcl/point_types.h>
    #include <pcl/visualization/cloud_viewer.h>
#endif
 
namespace dai {
 
class PointCloudData : public Buffer {
    std::shared_ptr<RawBuffer> serialize() const override;
    RawPointCloudData& pcl;
    std::vector<Point3f> points;
 
   public:
    using Buffer::getSequenceNum;
    using Buffer::getTimestamp;
    using Buffer::getTimestampDevice;
 
    PointCloudData();
    explicit PointCloudData(std::shared_ptr<RawPointCloudData> ptr);
    virtual ~PointCloudData() = default;
 
    std::vector<Point3f>& getPoints();
 
    unsigned int getInstanceNum() const;
 
    unsigned int getWidth() const;
 
    unsigned int getHeight() const;
 
    float getMinX() const;
 
    float getMinY() const;
 
    float getMinZ() const;
 
    float getMaxX() const;
 
    float getMaxY() const;
 
    float getMaxZ() const;
 
    bool isSparse() const;
 
    // setters
    PointCloudData& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
 
    PointCloudData& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp);
 
    PointCloudData& setInstanceNum(unsigned int instance);
 
    PointCloudData& setSequenceNum(int64_t seq);
 
    PointCloudData& setWidth(unsigned int width);
 
    PointCloudData& setHeight(unsigned int height);
 
    PointCloudData& setSize(unsigned int width, unsigned int height);
 
    PointCloudData& setSize(std::tuple<unsigned int, unsigned int> size);
 
    PointCloudData& setMinX(float val);
 
    PointCloudData& setMinY(float val);
 
    PointCloudData& setMinZ(float val);
 
    PointCloudData& setMaxX(float val);
 
    PointCloudData& setMaxY(float val);
 
    PointCloudData& setMaxZ(float val);
 
#ifdef DEPTHAI_HAVE_PCL_SUPPORT
 
    pcl::PointCloud<pcl::PointXYZ>::Ptr getPclData() const;
 
#else
    template <typename... T>
    struct dependent_false {
        static constexpr bool value = false;
    };
    template <typename... T>
    void getPclData() const {
        static_assert(dependent_false<T...>::value, "Library not configured with PCL support");
    }
#endif
};
 
}  // namespace dai