ClassicDeviceUtil.h

浏览该文件的文档.

//
// Created by LHR on 2023/12/13.
//
 
#ifndef ALSON_CLASSIC_CLIENT_CLASSIC_DEVICE_UTIL_H
#define ALSON_CLASSIC_CLIENT_CLASSIC_DEVICE_UTIL_H
 
 
// std
#include <string>
#include <vector>
 
// alson
#include <alson/classic_base.h>
#include <alson/classic_client/ClassicDeviceEventListener.h>
 
 
namespace ALSON {
 
 
class ClassicDeviceUtilImpl;
using ClassicDeviceUtilImplPtr = std::shared_ptr<ClassicDeviceUtilImpl>;
 
class ALSON_API ClassicDeviceUtil {
 
public:
    ClassicDeviceUtil() = default;
    explicit ClassicDeviceUtil(ClassicDeviceUtilImplPtr classicDeviceUtilPtr);
    ~ClassicDeviceUtil() = default;
    
    ClassicDeviceUtil(const ClassicDeviceUtil&) = default;
    ClassicDeviceUtil& operator=(const ClassicDeviceUtil&) = default;
    ClassicDeviceUtil(ClassicDeviceUtil&&) = default;
    ClassicDeviceUtil& operator=(ClassicDeviceUtil&&) = default;
 
public:
    static ClassicDeviceUtil create(const std::string& parameter);
    
    static ClassicDeviceUtil load(const std::string& filename);
    
    void save(const std::string& filename) const;
 
public:
    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;
 
private:
    ClassicDeviceUtilImplPtr m_classicDeviceUtilImplPtr;
};
 
 
} // namespace ALSON
 
 
#endif // !ALSON_CLASSIC_CLIENT_CLASSIC_DEVICE_UTIL_H