CVB++ 15.0
point_cloud_factory.hpp
1#pragma once
2
3#include "_cexports/c_core_3d.h"
4
5#include "global.hpp"
6#include "string.hpp"
7#include "core_3d.hpp"
8#include "sparse_point_cloud.hpp"
9#include "dense_point_cloud.hpp"
10#include "calibrator_3d.hpp"
11#include "sensor_settings.hpp"
12
13namespace Cvb
14{
15
16CVB_BEGIN_INLINE_NS
17
19
21{
22 public:
23
25
31 template <class T>
32 static std::shared_ptr<T> Load(const String& fileName, PointCloudFlags flags)
33 {
34 static_assert(std::is_base_of<PointCloud, T>::value, "CVB: PointCloud must be a base of T");
35 auto pointCloud = std::dynamic_pointer_cast<T>(Load(fileName, flags));
36 if (!pointCloud)
37 throw std::runtime_error("point cloud does not match type");
38 return pointCloud;
39 }
40
42
48 static PointCloudPtr Load(const String& fileName, PointCloudFlags flags)
49 {
50 return Internal::DoResCallShareOut<PointCloud>([&](void* & handle)
51 {
52 return CVB_CALL_CAPI(CVC3DLoadFileTyped(fileName.c_str(), static_cast<CExports::cvbval_t>(flags), handle));
53 });
54 }
55
57
87 static PointCloudPtr Create(const ImagePlane& rangeMap, const Calibrator3D& calibrator, PointCloudFlags flags)
88 {
89 return Internal::DoResCallShareOut<PointCloud>([&](void* & handle)
90 {
91 return CVB_CALL_CAPI(CVC3DCreateCalibratedPointCloudFromRangeMap(rangeMap.Map()->Handle(), calibrator.Handle(), static_cast<CExports::cvbval_t>(flags), handle));
92 });
93 }
94
96
109 template <class T>
110 static std::shared_ptr<T> Create(const ImagePlane& rangeMap, const Calibrator3D& calibrator, PointCloudFlags flags)
111 {
112 static_assert(std::is_base_of<PointCloud, T>::value, "CVB: PointCloud must be a base of T");
113 auto pointCloud = Create(rangeMap, calibrator, flags);
114 auto typedPointCloud = std::dynamic_pointer_cast<T>(pointCloud);
115 if (!typedPointCloud)
116 typedPointCloud = TypeConvert<T>::Convert(*pointCloud);
117 return typedPointCloud;
118 }
119
121
157 static PointCloudPtr CreateWithSettings(const ImagePlane& rangeMap, const Calibrator3D& calibrator, PointCloudFlags flags, const SensorSettings& settings, double encoderStep)
158 {
159 return Internal::DoResCallShareOut<PointCloud>([&](void*& handle)
160 {
161 return CVB_CALL_CAPI(CVC3DCreateCalibratedPointCloudFromRangeMapWithSettings(
162 rangeMap.Map()->Handle(),
163 calibrator.Handle(),
164 *reinterpret_cast<const CExports::CVC3DSensorSettings*>(&settings),
165 encoderStep,
166 static_cast<CExports::cvbval_t>(flags), handle));
167 });
168 }
169
171
184 template <class T>
185 static std::shared_ptr<T> CreateWithSettings(const ImagePlane& rangeMap, const Calibrator3D& calibrator, PointCloudFlags flags, const SensorSettings& settings, double encoderStep)
186 {
187 static_assert(std::is_base_of<PointCloud, T>::value, "CVB: PointCloud must be a base of T");
188 auto pointCloud = CreateWithSettings(rangeMap, calibrator, flags, settings, encoderStep);
189 auto typedPointCloud = std::dynamic_pointer_cast<T>(pointCloud);
190 if (!typedPointCloud)
191 typedPointCloud = TypeConvert<T>::Convert(*pointCloud);
192 return typedPointCloud;
193 }
194
196
210 {
211 return std::dynamic_pointer_cast<SparsePointCloud>(Internal::DoResCallShareOut<PointCloud>([&](void * & handle)
212 {
213 return CVB_CALL_CAPI(CVC3DCreateSparsePointCloud(
214 static_cast<CExports::cvbint64_t>(numPoints),
215 static_cast<CExports::cvbval_t>(flags),
216 handle));
217 }));
218 }
219
221
232 static SparsePointCloudPtr CreateSparse(const std::vector<void*> & planeBasePtrs, int numPlanes, Cvb::DataType dataType, std::size_t numPoints, const std::vector<std::intptr_t> & planeIncs)
233 {
234 return std::dynamic_pointer_cast<SparsePointCloud>(Internal::DoResCallShareOut<PointCloud>([&](void * & handle)
235 {
236 std::intptr_t tmpPlaneIncs[4] = {}; // NOLINT(cppcoreguidelines-avoid-c-arrays)
237 std::copy(planeIncs.begin(), planeIncs.end(), std::begin(tmpPlaneIncs));
238 return CVB_CALL_CAPI(CVC3DCreateSparsePointCloudFromPointer(
239 const_cast<void**>(planeBasePtrs.data()), // NOLINT(cppcoreguidelines-pro-type-const-cast)
240 static_cast<CExports::cvbdim_t>(numPlanes),
241 static_cast<CExports::cvbdatatype_t>(dataType.NativeDescriptor()),
242 static_cast<std::size_t>(numPoints),
243 tmpPlaneIncs,
244 [](void *, void *) {},
245 nullptr,
246 handle));
247 }));
248 }
249
251
265 {
266 return std::dynamic_pointer_cast<DensePointCloud>(Internal::DoResCallShareOut<PointCloud>([&](void * & handle)
267 {
268 return CVB_CALL_CAPI(CVC3DCreateDensePointCloud(size.Width(), size.Height(), static_cast<CExports::cvbval_t>(flags), handle));
269 }));
270 }
271
272
274
288 {
289 return std::dynamic_pointer_cast<DensePointCloud>(Internal::DoResCallShareOut<PointCloud>([&](void* & handle)
290 {
291 return CVB_CALL_CAPI(CVC3DCreateDensePointCloudFromRangeMap(rangeMap.Map()->Handle(),
292 *reinterpret_cast<CExports::CVC3DFactors*>(&factors), static_cast<CExports::cvbval_t>(flags),
293 handle));
294 }));
295
296 }
297
298 private:
299
300 template <class T>
301 struct TypeConvert{};
302};
303
304
305template <>
306struct PointCloudFactory::TypeConvert<DensePointCloud>
307{
308 static DensePointCloudPtr Convert(const PointCloud& pointCloud)
309 {
310 const auto& sparse = dynamic_cast<const SparsePointCloud&>(pointCloud);
311 return sparse.ToDensePointCloud();
312 }
313};
314
315template <>
316struct PointCloudFactory::TypeConvert<SparsePointCloud>
317{
318 static SparsePointCloudPtr Convert(const PointCloud& pointCloud)
319 {
320 const auto& dense = dynamic_cast<const DensePointCloud&>(pointCloud);
321 return dense.ToSparsePointCloud();
322 }
323};
324
325
326CVB_END_INLINE_NS
327
328}
Base calibration class to apply 3D calibration to point clouds.
Definition: decl_calibrator_3d.hpp:67
void * Handle() const noexcept
Returns C-API style handle to Node Object.
Definition: decl_calibrator_3d.hpp:180
Data type description for an image plane.
Definition: data_type.hpp:28
int NativeDescriptor() const noexcept
Native data type descriptor.
Definition: data_type.hpp:322
Image plane information container.
Definition: decl_image_plane.hpp:33
std::unique_ptr< Image > Map() const
Create a map from a single image plane that shares its memory with the original plane.
Definition: detail_image_plane.hpp:100
Factory object for creating point cloud objects.
Definition: point_cloud_factory.hpp:21
static SparsePointCloudPtr CreateSparse(const std::vector< void * > &planeBasePtrs, int numPlanes, Cvb::DataType dataType, std::size_t numPoints, const std::vector< std::intptr_t > &planeIncs)
Creates a point cloud from the given memory without copying the data.
Definition: point_cloud_factory.hpp:232
static PointCloudPtr Load(const String &fileName, PointCloudFlags flags)
Loads a 3D point, polygon or mesh file.
Definition: point_cloud_factory.hpp:48
static SparsePointCloudPtr CreateSparse(std::size_t numPoints, PointCloudFlags flags)
Creates a new sparse Cartesian 3D point cloud.
Definition: point_cloud_factory.hpp:209
static std::shared_ptr< T > Load(const String &fileName, PointCloudFlags flags)
Loads a 3D point, polygon or mesh file (typed).
Definition: point_cloud_factory.hpp:32
static std::shared_ptr< T > Create(const ImagePlane &rangeMap, const Calibrator3D &calibrator, PointCloudFlags flags)
Creates a new Cartesian 3D point cloud from the given 2.5D range map image (typed).
Definition: point_cloud_factory.hpp:110
static DensePointCloudPtr CreateDense(const Cvb::ImagePlane &rangeMap, Factors3D factors, PointCloudFlags flags)
Creates a new Cartesian 3D point cloud from the given 2.5D range map image.
Definition: point_cloud_factory.hpp:287
static DensePointCloudPtr CreateDense(Size2D< int > size, PointCloudFlags flags)
Creates a new dense Cartesian 3D point cloud.
Definition: point_cloud_factory.hpp:264
static PointCloudPtr CreateWithSettings(const ImagePlane &rangeMap, const Calibrator3D &calibrator, PointCloudFlags flags, const SensorSettings &settings, double encoderStep)
Creates a new Cartesian 3D point cloud from the given 2.5D range map image with modified camera setti...
Definition: point_cloud_factory.hpp:157
static std::shared_ptr< T > CreateWithSettings(const ImagePlane &rangeMap, const Calibrator3D &calibrator, PointCloudFlags flags, const SensorSettings &settings, double encoderStep)
Creates a new Cartesian 3D point cloud from the given 2.5D range map image with modified camera setti...
Definition: point_cloud_factory.hpp:185
static PointCloudPtr Create(const ImagePlane &rangeMap, const Calibrator3D &calibrator, PointCloudFlags flags)
Creates a new Cartesian 3D point cloud from the given 2.5D range map image.
Definition: point_cloud_factory.hpp:87
Class to store camera sensor settings.
Definition: sensor_settings.hpp:26
T Height() const noexcept
Gets the vertical component of the size.
Definition: size_2d.hpp:79
T Width() const noexcept
Gets the horizontal component of the size.
Definition: size_2d.hpp:59
Root namespace for the Image Manager interface.
Definition: c_barcode.h:15
PointCloudFlags
Flags for creating point clouds.
Definition: core_3d.hpp:90
std::shared_ptr< SparsePointCloud > SparsePointCloudPtr
Convenience shared pointer for SparsePointCloud.
Definition: core_3d.hpp:48
std::shared_ptr< DensePointCloud > DensePointCloudPtr
Convenience shared pointer for DensePointCloud.
Definition: core_3d.hpp:44
Factor components to be applied in the 3D domain.
Definition: core_3d.hpp:17