PointCloud.cs

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using System.Runtime.InteropServices;
using IDSImaging.Peak.ICV.Backend;
using Microsoft.Win32.SafeHandles;
 
namespace IDSImaging.Peak.ICV.Types.Detail;
 
public abstract class PointCloud : IDisposable, IHasSafeHandle
{
    internal Handle _handle;
 
    protected PointCloud()
    {
        var handle = new Handle();
        DllHelper.ExecuteAndMapReturnCodes(() => CInterface.peak_icv_PointCloud_Create(out handle));
        _handle = handle;
    }
 
    internal PointCloud(Handle handle)
    {
        _handle = handle;
    }
 
    public void Dispose()
    {
        _handle.Dispose();
        GC.SuppressFinalize(this);
    }
 
    SafeHandle IHasSafeHandle.Handle => _handle;
 
    internal sealed class Handle : SafeHandleZeroOrMinusOneIsInvalid
    {
        internal Handle() : base(true)
        {
        }
 
        protected override bool ReleaseHandle()
        {
            return CInterface.peak_icv_PointCloud_Destroy(handle) ==
                   Backend.Types.peak_icv_status.PEAK_ICV_STATUS_SUCCESS;
        }
    }
 
    internal class CInterface
    {
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_Create(
            out Handle pointCloudHandle);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_Destroy(IntPtr pointCloudHandle);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_IncreaseUseCount(
            Handle pointCloudHandle);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_CreateFromXYZImage(
            out Handle pointCloudHandle, Image.Handle imageHandle);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_CreateFromFile(
            out Handle pointCloudHandle, Backend.Types.peak_icv_point_type pointType, byte[] filePath);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_CreateFromPoints(
            out Handle pointCloudHandle, Backend.Types.peak_icv_point_xyz[] points, nuint numPoints,
            Backend.Types.peak_icv_point_type pointType);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_CreateFromXYZImageAndIntensityImage(
            out Handle pointCloudHandle, Image.Handle imageHandle, Image.Handle intensityImageHandle);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_CreateFromPoints(
            out Handle pointCloudHandle, Backend.Types.peak_icv_point_xyzi[] points, nuint numPoints,
            Backend.Types.peak_icv_point_type pointType);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_GetPoints_GetCount(
            Handle pointCloudHandle, out nuint count);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_GetPoints(
            Handle pointCloudHandle, IntPtr points, nuint numPoints);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_Transform(
            Handle pointCloudHandle, float[] matrix,
            ref Handle outputHandle);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_PointCloud_TransformToWorkspace(
            Handle pointCloudHandle, Backend.Types.peak_icv_extrinsic_parameters extrinsicParameters,
            nuint sizeOfExtrinsicParameters,
            ref Handle outputHandle);
    }
}
 
public abstract class PointCloudT<TPoint> : PointCloud
{
    protected TPoint[]? _points;
 
    internal PointCloudT(Handle handle) : base(handle)
    {
    }
 
    protected PointCloudT()
    {
    }
 
    public abstract TPoint[] Points { get; }
 
    public override string ToString()
    {
        return string.Join(", ", Points.Select(item => $"({item})"));
    }
}