iPointCloud.h

#pragma once
 
#include "xmsdk_export.h"
#include <vector>
#include <cstdint>
#include <memory>
 
namespace xavia::sdk
{
  struct MetaData
  {
    std::uint64_t frameTimeStampUs{0};     
    std::uint64_t lineTimeStampUs{0};      
    std::uint64_t transmitTimeStampUs{0};  
    std::uint32_t frameNumber{0};          
    std::uint8_t lineNumber{0};            
    std::uint8_t internalFrameNumber{0};    
    std::uint32_t triggerCounter{0};       
    std::uint8_t returnIndex{0};           
  };

  struct OnboardProbes
  {
    float humidityRelative; 
    float temperatureDegC;  
  };

  struct ImuData
  {
    float yawDegS;   
    float pitchDegS; 
    float rollDegS;  
    float accXMS2;   
    float accYMS2;   
    float accZMS2;   
  };

  class IPointCloud
  {
  public:
 
    virtual ~IPointCloud() = default;
    virtual const std::vector<float>& GetXMm() const = 0;
    virtual const std::vector<float>& GetYMm() const = 0;
    virtual const std::vector<float>& GetZMm() const = 0;

    virtual const std::vector<float>& GetDistanceMm() const = 0;

    virtual const std::vector<float>& GetReflectivity() const = 0;

    virtual const std::vector<std::uint16_t>& GetAmbient() const = 0;

    virtual const std::vector<float>& GetConfidence() const = 0;

    virtual std::size_t GetNrPoints() const = 0;

    virtual const MetaData& GetMetaData() const = 0;
    
    virtual const ImuData& GetImuData() const = 0;
    
    virtual const OnboardProbes& GetOnboardProbes() const = 0;

    virtual const std::vector<std::uint8_t>& Serialize() = 0;

    virtual void Deserialize(const std::vector<std::uint8_t>& data) = 0;

    virtual void Deserialize(const std::uint8_t* pBuffer, const std::size_t size) = 0;
  };

  std::unique_ptr<IPointCloud> XMSDK_EXPORT CreatePointCloud();
} // namespace xavia::sdk