Data Structures

Geometry

Output types from scan integration and mesh/union generation, with export and memory management functions.

Functions

bool phoim_ExportPointCloud(const phoim_PointCloud point_cloud, const char *file_path)

Exports a point cloud (e.g. generated by the phoim_GetUnion function).

Note

Supported output file extensions: .ply

Parameters:

point_cloud – Non-organized point cloud to be exported.
file_path – Full directory including filename and file extension. The content of the pointer is expected to be a null-terminated string.

Returns:

Return true if the point cloud was successfully exported, false otherwise.

void phoim_FreePointCloud(phoim_PointCloud *point_cloud)

Free a point cloud and its resources.

Parameters:: point_cloud – Point cloud to be freed.

bool phoim_ExportMesh(phoim_Mesh mesh, const char *file_path)

Save a mesh (e.g. generated by the phoim_GetMesh function) to a file.

Note

Supported output file extensions: .stl, .fbx, .ply.

Parameters:

mesh – Mesh to be exported.
file_path – Full directory including filename and file extension. The content of the pointer is expected to be a null-terminated string. The content of the pointer is internally copied.

Returns:

Return true if the mesh was successfully exported, false otherwise.

void phoim_FreeMesh(phoim_Mesh *mesh)

Free a mesh and its resources.

Parameters:: mesh – Mesh to be freed.

void phoim_FreeScan(phoim_Scan *scan)

Free a scan and its resources.

Parameters:: scan – Scan to be freed.

struct phoim_PointCloud

#include <GeometryUtils.h>

Non-organized point cloud.

Public Members

size_t size

const utils_Vec3f *positions

const utils_Vec3f *normals

const utils_Vec3f *colors

struct phoim_Mesh

#include <GeometryUtils.h>

Non-organized point cloud with faces.

Public Members

phoim_PointCloud points

size_t faces_size

const utils_Vec3u *faces

struct phoim_Scan

#include <GeometryUtils.h>

Organized point cloud with defined resolution (3D scan). The ordering of points is row-major.

Public Members

phoim_PointCloud points

int32_t width: Resolution of the point cloud, width.

int32_t height: Resolution of the point cloud, height.

Frame

Frame data supplied to phoim_AddScan: point cloud, texture, virtual camera parameters, and PTP timestamps.

Functions

void phoim_AcceptFrame(const struct phoxi_frame_record_t *records, void *out_frame)

Callback function used with phoxi_frame_read to process frame records from PhoXi C API. This function converts the raw frame records into a phoim_Frame structure.

Note

This function is typically used when reading frames from a device or a dataset, example usage: phoim_Frame frame; phoxi_frame_read(dataset_name, frame_id, timeout, phoim_AcceptFrame, &frame);

Note

The output frame allocates and owns the data. Call phoim_FreeFrame to release its resources.

Parameters:

records – Pointer to the frame records provided by the phoxi_frame_read function.
out_frame – Pointer to a pre-allocated phoim_Frame structure that will be populated with the converted data.

void phoim_FreeFrame(phoim_Frame *frame)

Free a frame and its resources.

Parameters:: frame – Frame to be freed.

struct phoim_VirtualCamera

#include <Frame.h>

Public Members

int32_t width: Frame width.

int32_t height: Frame height.

bool orthogonal_projection: True if the camera is in orthogonal projection mode (false for perspective).

utils_Vec3d position: Camera position.

utils_Vec3d x_axis: Camera direction - x axis.

utils_Vec3d y_axis: Camera direction - y axis.

utils_Vec3d z_axis: Camera direction - z axis.

phoim_CameraIntrinsics camera_intrinsics: Perspective camera intrinsics.

phoim_DistortionCoefficients distortion_coefficients: Perspective camera distortion coefficients.

float ortho_width: Width of the orthogonal view volume in millimeters.

float ortho_height: Height of the orthogonal view volume in millimeters.

struct phoim_Frame

#include <Frame.h>

Frame The size of the members: point_cloud and texture (or texture_rgb) is expected to be equal to current_camera.width * current_camera.height.

Public Members

int64_t index: Frame index.

double timestamp: Timestamp of the frame.

double capturing_duration: Duration of the frame capturing in milliseconds.

double ptp_start_time: Frame start acquisition time point synchronized by PTP (milliseconds since epoch).

const char *ptp_port_state: PTP port state. Empty string “” if PTP not available (never null).

const char *ptp_grand_master_identity: PTP grand master identity. Empty string “” if PTP not available (never null).

phoim_VirtualCamera current_camera: Current camera parameters.

const utils_Vec3f *point_cloud: Point cloud with size equal to width * height.

const float *texture: Gray-scale texture.

const utils_Vec3us *texture_rgb: RGB texture.

Cropping Volumes

Spatial filters passed to phoim_SetCroppingVolume and phoim_GetMesh.

Enums

enum phoim_CroppingType

Type of cropping volume.

Values:

enumerator phoim_none

enumerator phoim_aabb

enumerator phoim_sphere

struct phoim_CroppingAabb

#include <CroppingVolume.h>

Axis-aligned bounding box.

Public Members

utils_Vec3f min

utils_Vec3f max

struct phoim_CroppingSphere

#include <CroppingVolume.h>

Sphere.

Public Members

utils_Vec3f origin

float radius

struct phoim_CroppingVolume

#include <CroppingVolume.h>

Struct for cropping volumes.

Public Members

phoim_CroppingType type: The type of the cropping volume.

phoim_CroppingAabb aabb

phoim_CroppingSphere sphere

union phoim_CroppingVolume::[anonymous] volume: The cropping volume. The assigned type in this union needs to match the CroppingVolume::type member.