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#ifndef DYNAMIC_DEPTH_INCLUDES_DYNAMIC_DEPTH_POINT_CLOUD_H_ // NOLINT
#define DYNAMIC_DEPTH_INCLUDES_DYNAMIC_DEPTH_POINT_CLOUD_H_ // NOLINT
#include <memory>
#include <string>
#include <unordered_map>
#include "dynamic_depth/element.h"
#include "xmpmeta/xml/deserializer.h"
#include "xmpmeta/xml/serializer.h"
// Implements the Point Cloud element from the Dynamic Depth specification, with
// serialization and deserialization.
namespace dynamic_depth {
class PointCloud : public Element {
public:
void GetNamespaces(
std::unordered_map<string, string>* ns_name_href_map) override;
bool Serialize(
::dynamic_depth::xmpmeta::xml::Serializer* serializer) const override;
// Creates a Point Cloud from the given fields. Returns null if position is
// empty or points.size() is not divisible by 4.
// The first two arguments are required fields, the rest are optional.
// points is a list of (x, y, z, c) tuples, so it must have a size that is
// evenly divisible by 4.
// The first three values are the point's XYZ coordinates, and the fourth
// is the confidence value. More details are available in the specification.
static std::unique_ptr<PointCloud> FromData(const std::vector<float>& points,
bool metric);
// Returns the deserialized PointCloud; null if parsing fails.
// The returned pointer is owned by the caller.
static std::unique_ptr<PointCloud> FromDeserializer(
const ::dynamic_depth::xmpmeta::xml::Deserializer& parent_deserializer);
// Getters.
// Returns the number of (x, y, z, c) tuples, *not* the length of points_.
int GetPointCount() const;
const std::vector<float>& GetPoints() const;
bool GetMetric() const;
PointCloud(const PointCloud&) = delete;
void operator=(const PointCloud&) = delete;
private:
PointCloud();
bool ParseFields(
const ::dynamic_depth::xmpmeta::xml::Deserializer& deserializer);
// Required fields.
std::vector<float> points_;
// Optional fields.
bool metric_;
};
} // namespace dynamic_depth
#endif // DYNAMIC_DEPTH_INCLUDES_DYNAMIC_DEPTH_POINT_CLOUD_H_ // NOLINT
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