ClassicDeviceController.h

浏览该文件的文档.

//
// Created by ALSON08 on 2022/7/6.
//
 
#ifndef ALSON_CLASSIC_CLIENT_CLASSIC_DEVICE_CONTROLLER_H
#define ALSON_CLASSIC_CLIENT_CLASSIC_DEVICE_CONTROLLER_H
 
 
// std
#include <string>
#include <vector>
 
// alson
#include <alson/communication_base.h>
#include <alson/communication_client.h>
#include <alson/classic_base.h>
#include <alson/classic_client/ClassicDeviceEventListener.h>
#include <alson/classic_client/ClassicDeviceUtil.h>
 
 
namespace ALSON {
 
class ClassicDeviceControllerImpl;
using ClassicDeviceControllerImplPtr = std::shared_ptr<ClassicDeviceControllerImpl>;
 
class ALSON_API ClassicDeviceController {
 
public:
    ClassicDeviceController() = default;
    explicit ClassicDeviceController(const ClientContextPtr& clientContextPtr);
    ~ClassicDeviceController() = default;
    
    ClassicDeviceController(const ClassicDeviceController&) = default;
    ClassicDeviceController& operator=(const ClassicDeviceController&) = default;
    ClassicDeviceController(ClassicDeviceController&&) = default;
    ClassicDeviceController& operator=(ClassicDeviceController&&) = default;
 
public:
    void open();
    
    void close();
    
    bool isOpen();
    
    DeviceInfo getDeviceInfo();
    
    void setDeviceEventListener(const ClassicDeviceEventListenerPtr& deviceEventListenerPtr);
    
    std::vector<AlsonMat> captureSourceImage(bool isLatest);
    
    std::vector<AlsonMat> captureTextureImage(bool isLatest);
    
    AlsonMat scan(bool isDepthMode);
    
    AlsonMat grabTextureImage();
    
    std::vector<AlsonMat> grabSourceImages();
    
    PointCloud grabPointCloud();
    
    void setUserMask(const AlsonMat& left, const AlsonMat& right);
 
public:
    ClassicDeviceUtil createClassicDeviceUtil();
    
    AlsonMat getDeviceIntrinsics();
    
    PointUV pointXYZToUV(const PointXYZ& pointXYZ) const;
    
    PointUV pointXYZToUV(float x, float y, float z) const;
    
    std::vector<PointUV> pointXYZToUV(const PointCloud& pointCloud) const;
    
    PointCloud addRGBForPointCloud(const PointCloud& pointCloud, const AlsonMat& textureImage) const;
    
    PointCloud addRGBAndNormalForPointCloud(const PointCloud& pointCloud, const AlsonMat& textureImage, double radiusSearch, int totalThreads = 1) const;
    
    AlsonMat alignTextureImage(const AlsonMat& textureImage);
    
    AlsonMat pointCloudToDepthImage(const PointCloud& pointCloud) const;
    
    PointCloud depthImageToPointCloud(const AlsonMat& depthImage) const;
    
    PointCloud alignPointCloud(const PointCloud& pointCloud) const;
 
protected:
    virtual ClassicDeviceControllerImplPtr classicDeviceControllerImplPtr() const;
 
private:
    ClassicDeviceControllerImplPtr m_classicDeviceControllerImplPtr;
}; // class ClassicDeviceController
 
 
} // namespace ALSON
 
 
#endif // !ALSON_CLASSIC_CLIENT_CLASSIC_DEVICE_CONTROLLER_H