#include <mlPCLRegistration.h>

Inheritance diagram for ml::PCLRegistration:

Public Member Functions
	PCLRegistration (int numInputs=2, int numOutputs=1)

IntField &	getMaximumIterationsFld () const
DoubleField &	getMaxCorrespondenceDistanceFld () const
DoubleField &	getTransformationEpsilonFld () const
DoubleField &	getEuclideanFitnessEpsilonFld () const

Matrix4Field &	getFinalTransformationFld () const
Matrix4Field &	getLastIncrementalTransformationFld () const
DoubleField &	getFitnessScoreFld () const
BoolField &	getHasConvergedFld () const
Public Member Functions inherited from ml::PCLModule
	PCLModule (int numImageInputs=0, int numImageOutputs=0, int numPCLInputs=0, int numPCLOutputs=0, bool createEnumAndNotify=false)
	~PCLModule () override
	Destructor.
BaseField &	getInputPCLBaseObjectField (size_t inIdx) const
	Returns the base field of the idx'th input connector if it exists, accessing non existing indexes is not allowed.
size_t	getNumInputPCLBaseObjectFields () const
	Returns the number of PCLBaseObject input connectors.
MLPCLObjectPtrsContainer	getInputPCLObjectPtrsContainer (size_t inIdx)
PCLBaseObject *	getInputPCLBaseObject (size_t inIdx) const
BaseField &	getOutputPCLBaseObjectField (size_t inIdx) const
	Returns the base field of the idx'th output connector if it exists, accessing non existing indexes is not allowed.
PCLBaseObject *	getOutputPCLBaseObject (size_t inIdx) const
	Returns the PCL base object of the idx'th output connector if it exists, accessing non existing indexes is not allowed.
void	setOutputPCLBaseObject (size_t outIdx, PCLBaseObjectPtr baseObjPtr)
	Sets the PCL base object of the idx'th output connector if it exists, using non existing indexes is not allowed.
size_t	getNumOutputPCLBaseObjectFields () const
	Returns the number of PCLBaseObject output connectors.
MLPCLObjectPtrsContainer	getOutputPCLObjectPtrsContainer (size_t inIdx)
template<typename PCL_OBJECT_PTR_TYPE>
void	setOutputPCLObject (size_t outIdx, PCL_OBJECT_PTR_TYPE outputPCLObjectPtr)
void	clearOutputPCLPointers (size_t outIdx)
std::vector< PCLBaseObjectPtr >	getNonNullConnectedInputPCLBaseObjects () const
	Returns a vector of all connected non nullptr PCLBaseObjects.
bool	hasValidInputPointCloudPointer (size_t inIdx)
bool	hasValidInputPolygonMeshPointer (size_t inIdx)
EnumField *	getUpdateModeFieldPointer () const
	Returns the update mode field if it has been created in the constructor, otherwise nullptr is returned.
NotifyField *	getUpdateFieldPointer () const
	Returns the update field if it has been created in the constructor, otherwise nullptr is returned.
void	setStatusString (const std::string &statusStr)
	Sets a status string in the status field.
std::string	getStatusString () const
	Sets a status string in the status field.
const StringField &	getStatusStringField () const
	Returns a constant reference to the status string field, for example to compare to it in handle Notification.
Public Member Functions inherited from ml::Module
MLMetaProfilePtr &	getMetaProfile () const
	Returns the metaprofile for the base operator.
const char *	getTypeNameFast () const
	Module (int numInputImages, int numOutputImages)
	~Module () override
InputConnectorField *	getInputImageField (MLint i) const
	Returns the field representing input image `i`. `i` must be a valid index.
OutputConnectorField *	getOutputImageField (MLint i=0) const
	Returns the field representing output image `i`. `i` must be a valid index.
MLint	getNumInputImages () const
	Returns the number of input images of this module.
MLint	getNumOutputImages () const
	Returns the number of output images of this module.
PagedImage *	getOutputImage (MLint outputIndex=0) const
	Returns the output image `outputIndex`. The index needs to be in the range [0, getNumOutputImages()-1].
InputConnectorField *	addInputImage (const char *name=nullptr)
OutputConnectorField *	addOutputImage (const char *name=nullptr)
PagedImage *	getInputImage (MLint inputIndex, bool getReal=false) const
PagedImage *	getUpdatedInputImage (MLint inputIndex, bool getReal=false) const
MLErrorCode	processAllPages (int outputIndex=-1, SubImageBox region=SubImageBox(), MLRequestProgressCB progressCallback=nullptr, void progressCallbackUserData=nullptr)
MLErrorCode	processAllPages (ProcessAllPagesHandler &handler, SubImageBox region=SubImageBox(), MLRequestProgressCB progressCallback=nullptr, void progressCallbackUserData=nullptr)
MLErrorCode	processMissingPages (int outputIndex=0, SubImageBox region=SubImageBox(), MLRequestProgressCB progressCallback=nullptr, void progressCallbackUserData=nullptr)
void	clearOutputImage (MLint i=0)
	Clears cached output image pages of output image `i`.
MLint	getOutputImageInplace (MLint outputIndex=0) const
MLint	getBypass (MLint outputIndex=0) const
THREAD_SUPPORT	getThreadSupport () const
bool	areRecursiveHandleNotificationsPermitted () const
MLint	getHandleNotificationEntryCounter () const
PERMITTED_TYPES	getVoxelDataTypeSupport () const
bool	isSupportedVoxelDataType (MLDataType dt) const
virtual INPUT_HANDLE	handleInput (int, INPUT_STATE) const
INPUT_STATE	getInputState (MLint index)
INPUT_STATE	getUpdatedInputState (MLint index)
bool	isInputImageField (Field *field) const
void	touchOutputImageFields () const
	Touches all output image fields to indicate that the images have changed.
virtual void	beginSaveFields ()
virtual void	endSaveFields ()
Public Member Functions inherited from ml::FieldContainer
	FieldContainer ()
	Constructor.
	~FieldContainer () override
	Destructor: Deletes all added fields.
std::string	whoAmI (bool withInstanceName=true) const
Field *	addField (const char name, const char type, const char *value)
Field *	addField (Field *field)
	Adds a `field`, the ownership of the field is passed to the FieldContainer.
BoolField *	addBool (const char *name)
	Creates a BoolField with `name` and adds it to the container. Default value is `false`.
BoolField *	addBool (const char *name, bool value)
	Creates a BoolField with `name` and adds it to the container.
IntField *	addInt (const char *name)
	Creates an IntField with `name` and adds it to the container. Default value is 0.
IntField *	addInt (const char *name, MLint value)
	Creates an IntField with `name` and adds it to the container.
EnumField *	addEnum (const char name, const char const *enumerationItemNames, MLint numEnumerationItems)
EnumField *	addEnum (const char *name, const std::vector< std::string > &enumerationItemNames)
template<typename EnumType>
TypedEnumField< EnumType > *	addEnum (const char *name, const EnumValues< EnumType > &values, EnumType initialValue)
FloatField *	addFloat (const char *name)
	Creates a FloatField with `name` and adds it to the container. Default value is 0.f.
FloatField *	addFloat (const char *name, float value)
	Creates a FloatField with `name` and adds it to the container.
ProgressField *	addProgress (const char *name)
	Creates a float ProgressField with `name` and adds it to the container. Default value is 0.f.
ProgressField *	addProgress (const char *name, float value)
	Creates a float ProgressField with `name` and adds it to the container.
DoubleField *	addDouble (const char *name)
	Creates a DoubleField with `name` and adds it to the container. Default value is 0.
DoubleField *	addDouble (const char *name, double value)
	Creates a DoubleField with `name` and adds it to the container.
StringField *	addString (const char *name)
	Creates a StringField with `name` and adds it to the container. Default value is empty string.
StringField *	addString (const char *name, const std::string &value)
	Creates a StringField with `name` and adds it to the container.
NotifyField *	addNotify (const char *name)
	Creates a NotifyField field with `name` and adds it to the container.
TriggerField *	addTrigger (const char *name)
BaseField *	addBase (const char *name)
	Creates a Base field with `name` and adds it to the container. Default value is NULL.
BaseField *	addBase (const char name, Base value)
	Creates a Base field with `name` and adds it to the container.
BaseField *	addBase (const char *name, const RefCountedBasePtr &value)
	Creates a Base field with `name` and adds it to the container. Sets the value from intrusive pointer.
template<typename T>
BaseField *	addBaseWithAllowedType (const char name, T value=nullptr)
	As above, but also sets the allowed type of the field.
template<typename T>
BaseField *	addBaseWithAllowedType (const char *name, const ::boost::intrusive_ptr< T > &value)
	As above, but also sets the allowed type of the field.
template<typename T>
TypedBaseField< T > *	addTypedBase (const char *name)
	Creates a TypedBaseField with `name` and adds it to the container. Default value is NULL.
template<typename T>
TypedBaseField< T > *	addTypedBase (const char name, T value)
	Creates a TypedBaseField with `name` and adds it to the container.
template<typename T>
TypedBaseField< T > *	addTypedBase (const char *name, const ::boost::intrusive_ptr< T > &value)
	Creates a TypedBaseField with `name` and adds it to the container. Sets the value from intrusive pointer.
SoNodeField *	addSoNode (const char *name)
	Creates a SoNodeField with `name` and adds it to the container. Default value is NULL.
SoNodeField *	addSoNode (const char name, SoNode value)
	Creates a SoNodeField with `name` and adds it to the container.
PointerField *	addPointer (const char *name)
	Creates a PointerField with `name` and adds it to the container.
Vector2Field *	addVector2 (const char *name)
	Creates a Vector2Field with `name` and adds it to the container.
Vector2Field *	addVector2 (const char *name, const Vector2 &value)
	Creates a Vector2Field with `name` and adds it to the container.
Vector2Field *	addVector2 (const char *name, double x, double y)
	Creates a Vector2Field with `name` and adds it to the container.
Vector3Field *	addVector3 (const char *name)
	Creates a Vector3Field with `name` and adds it to the container.
Vector3Field *	addVector3 (const char *name, const Vector3 &value)
	Creates a Vector3Field with `name` and adds it to the container.
Vector3Field *	addVector3 (const char *name, double x, double y, double z)
	Creates a Vector3Field with `name` and adds it to the container.
Vector4Field *	addVector4 (const char *name)
	Creates a Vector4Field with `name` and adds it to the container.
Vector4Field *	addVector4 (const char *name, const Vector4 &value)
	Creates a Vector4Field with `name` and adds it to the container.
Vector4Field *	addVector4 (const char *name, double x, double y, double z, double w)
	Creates a Vector4Field with `name` and adds it to the container.
Vector5Field *	addVector5 (const char *name)
	Creates a Vector5Field with `name` and adds it to the container.
Vector5Field *	addVector5 (const char *name, const Vector5 &value)
	Creates a Vector5Field with `name` and adds it to the container.
Vector6Field *	addVector6 (const char *name)
	Creates a Vector6Field with `name` and adds it to the container.
Vector6Field *	addVector6 (const char *name, const Vector6 &value)
	Creates a Vector6Field with `name` and adds it to the container.
Vector10Field *	addVector10 (const char *name)
	Creates a Vector10Field with `name` and adds it to the container.
Vector10Field *	addVector10 (const char *name, const Vector10 &value)
	Creates a Vector10Field with `name` and adds it to the container.
ImageVectorField *	addImageVector (const char *name)
	Creates a ImageVectorField with `name` and adds it to the container.
ImageVectorField *	addImageVector (const char *name, const ImageVector &value)
	Creates a ImageVectorField with `name` and adds it to the container.
ImageVectorField *	addImageVector (const char *name, MLint x, MLint y, MLint z, MLint c, MLint t, MLint u)
	Creates a ImageVectorField with `name` and adds it to the container.
SubImageBoxField *	addSubImageBox (const char *name)
	Creates a SubImageBoxField with `name` and adds it to the container.
SubImageBoxField *	addSubImageBox (const char *name, const SubImageBox &value)
	Creates a SubImageBoxField with `name` and adds it to the container.
SubImageBoxdField *	addSubImageBoxd (const char *name)
	Creates a SubImageBoxd field with `name` and adds it to the container.
SubImageBoxdField *	addSubImageBoxd (const char *name, const SubImageBoxd &value)
	Creates a SubImageBoxd field with `name` and adds it to the container.
ColorField *	addColor (const char *name)
	Creates a ColorField with `name` and adds it to the container.
ColorField *	addColor (const char *name, float r, float g, float b)
	Creates a ColorField with `name` and adds it to the container.
ColorField *	addColor (const char *name, const Vector3 &value)
	Creates a ColorField with `name` and adds it to the container.
PlaneField *	addPlane (const char *name)
	Creates a PlaneField with `name` and adds it to the container.
PlaneField *	addPlane (const char *name, double f0, double f1, double f2, double f3)
	Creates a PlaneField with `name` and adds it to the container.
PlaneField *	addPlane (const char *name, const Plane &value)
	Creates a PlaneField with `name` and adds it to the container.
RotationField *	addRotation (const char *name)
	Creates a RotationField with `name` and adds it to the container.
RotationField *	addRotation (const char *name, const Rotation &value)
	Creates a RotationField with `name` and adds it to the container.
Matrix2Field *	addMatrix2 (const char *name)
	Creates a Matrix2Field with `name` and adds it to the container.
Matrix2Field *	addMatrix2 (const char *name, const Matrix2 &value)
	Creates a Matrix2Field with `name` and adds it to the container.
Matrix3Field *	addMatrix3 (const char *name)
	Creates a Matrix3Field with `name` and adds it to the container.
Matrix3Field *	addMatrix3 (const char *name, const Matrix3 &value)
	Creates a Matrix3Field with `name` and adds it to the container.
Matrix4Field *	addMatrix4 (const char *name)
	Creates a Matrix4Field with `name` and adds it to the container.
Matrix4Field *	addMatrix4 (const char *name, const Matrix4 &value)
	Creates a Matrix4Field with `name` and adds it to the container.
Matrix5Field *	addMatrix5 (const char *name)
	Creates a Matrix5Field with `name` and adds it to the container.
Matrix5Field *	addMatrix5 (const char *name, const Matrix5 &value)
	Creates a Matrix5Field with `name` and adds it to the container.
Matrix6Field *	addMatrix6 (const char *name)
	Creates a Matrix6Field with `name` and adds it to the container.
Matrix6Field *	addMatrix6 (const char *name, const Matrix6 &value)
	Creates a Matrix6Field with `name` and adds it to the container.
MatrixField *	addMatrix (const char *name)
	Creates a MatrixField with `name` and adds it to the container.
MatrixField *	addMatrix (const char *name, const Matrix4 &value)
	Creates a MatrixField with `name` and adds it to the container.
MLDataTypeField *	addMLDataType (const char *name)
	Creates a MTDataTypeField with `name` and adds it to the container.
MLDataTypeField *	addMLDataType (const char *name, MLDataType value)
	Creates a MTDataTypeField with `name` and adds it to the container.
UniversalTypeField *	addUniversalType (const char *name)
	Creates an UniversalTypeField field with `name` and adds it to the container.
IntListField *	addIntList (const char *name)
	Creates an IntListField field with `name` and empty list value and adds it to the container.
IntListField *	addIntList (const char *name, const std::vector< MLint > &value)
	Creates an IntListField field with `name` and given list value and adds it to the container.
DoubleListField *	addDoubleList (const char *name)
	Creates an DoubleListField field with `name` and empty list value and adds it to the container.
DoubleListField *	addDoubleList (const char *name, const std::vector< double > &value)
	Creates an DoubleListField field with `name` and given list value and adds it to the container.
Vector2ListField *	addVector2List (const char *name)
	Creates an Vector2ListField field with `name` and empty list value and adds it to the container.
Vector2ListField *	addVector2List (const char *name, const std::vector< Vector2 > &value)
	Creates an Vector2ListField field with `name` and given list value and adds it to the container.
Vector3ListField *	addVector3List (const char *name)
	Creates an Vector3ListField field with `name` and empty list value and adds it to the container.
Vector3ListField *	addVector3List (const char *name, const std::vector< Vector3 > &value)
	Creates an Vector3ListField field with `name` and given list value and adds it to the container.
Vector4ListField *	addVector4List (const char *name)
	Creates an Vector4ListField field with `name` and empty list value and adds it to the container.
Vector4ListField *	addVector4List (const char *name, const std::vector< Vector4 > &value)
	Creates an Vector4ListField field with `name` and given list value and adds it to the container.
size_t	getNumFields () const
	Returns the number of added fields.
bool	hasField (const std::string &name) const
	Returns `true` if the field with name `name` exists; otherwise, `false` is returned.
Field *	getField (const std::string &name) const
Field *	getField (MLint index) const
	Returns pointer of field at `index` if it exists. If not, -1 is returned.
MLint	getFieldIndex (Field *field) const
	Returns index of `field` if it exists. If not, -1 is returned.
void	setFieldStringValue (const std::string &name, const std::string &value)
std::string	getFieldStringValue (const std::string &name) const
virtual void	deactivateAttachments ()
Public Member Functions inherited from ml::Base
	Base ()
	Constructor.
virtual	~Base ()
	Destructor.
virtual Base *	deepCopy () const
bool	isOfAllowedType (const std::vector< const RuntimeType * > &types) const
virtual bool	isRefCountedBase () const
	Returns whether the instance is derived from RefCountedBase.
virtual std::string	detailString () const
virtual bool	implementsPersistence (PersistenceInterface) const
virtual std::string	persistentState () const
	Returns a string describing the object's internal state.
virtual void	setPersistentState (const std::string &state)
virtual void	addStateToTree (TreeNode *) const
	Attaches the object state as children of the given parent node.
virtual void	readStateFromTree (TreeNode *)
	Reads the object state from the children of the given parent node.
virtual void	writeTo (AbstractPersistenceOutputStream *) const
virtual void	readFrom (AbstractPersistenceInputStream *, int)

Protected Member Functions
void	activateAttachments () override
	Updates internal state after changes of fields without field notifications.
void	handleNotification (Field *field) override
	Handles field changes of the field `field`.
void	_addPCLRelatedFields ()
	Adds fields corresponding to the registration class covered with this class, already called by constructor.
template<typename PCL_FILTER>
void	_setFilterParameters (PCL_FILTER &regObject) const
	Sets the filter parameters known from this class.
template<typename PCL_FILTER>
void	_retrieveFilterResultParameters (PCL_FILTER &regObject)
	Retrieves output parameters from filter known in this class.
Protected Member Functions inherited from ml::PCLModule
bool	_needsUpdate (Field *field) const
	If _updateModeFld and _updateFld settings with field require an update then true is returned, otherwise false.
virtual void	_updateConnectionStatus ()
Protected Member Functions inherited from ml::Module
void	handleNotificationInternal (Field *field, FieldSensor::Strength strength) override
virtual CalculateOutputImageHandler *	createCalculateOutputImageHandler (PagedImage *outputImage)
virtual void	calculateOutputImageProperties (int outputIndex, PagedImage *outputImage)
virtual SubImageBox	calculateInputSubImageBox (int, const SubImageBox &outputSubImageBox, int)
virtual void	calculateOutputSubImage (SubImage outputSubImage, int outputIndex, SubImage inputSubImages)
virtual void	provideCustomPage (int, const SubImageBox &, MLMemoryBlockHandle &)
void	handleNotificationOff ()
void	handleNotificationOn ()
bool	isHandleNotificationOn ()
	Returns `true` if handleNotification calls are permitted; otherwise, it returns `false`.
void	setOutputImageInplace (MLint outputIndex=0, MLint inputIndex=0)
void	unsetOutputImageInplace (MLint outputIndex=0)
void	setBypass (MLint outputIndex=0, MLint inputIndex=0)
void	setClampPagesToImageExtent (bool flag=true)
void	setThreadSupport (THREAD_SUPPORT supportMode)
void	permitRecursiveHandleNotifications (bool enable)
void	setVoxelDataTypeSupport (PERMITTED_TYPES permTypes)

Static Protected Member Functions
static Matrix4	_pclToMLType (Eigen::Matrix< float, 4, 4 > inputType)

Additional Inherited Members
Public Types inherited from ml::Module
enum	PERMITTED_TYPES { ONLY_SCALAR_TYPES , ONLY_DEFAULT_TYPES , ALL_REGISTERED_TYPES }
	See documentation of setVoxelDataTypeSupport. More...
enum	INPUT_STATE { DISCONNECTED = 0 , CONNECTED_BUT_INVALID = 1 , CONNECTED_AND_VALID = 2 , CONNECTED_BUT_NEEDS_UPDATE = 3 }
	See documentation of handleInput. More...
enum	INPUT_HANDLE { INVALIDATE = 0 , ALLOW_INVALID_INPUT = 2 }
	See documentation of handleInput. More...
Public Types inherited from ml::Base
enum	PersistenceInterface { PersistenceByString , PersistenceByTreeNode , PersistenceByStream }
	This enum describes the different persistence interfaces available. More...
Static Public Member Functions inherited from ml::Module
static MLErrorCode	getTile (PagedImage image, SubImageBox loc, MLDataType datatype, void data, const ScaleShiftData &scaleShiftData=ScaleShiftData(), MLRequestProgressCB progressCallback=nullptr, void *progressCallbackUserData=nullptr)
static MLErrorCode	getTile (PagedImage image, SubImage &subimg, const ScaleShiftData &scaleShiftData=ScaleShiftData(), MLRequestProgressCB progressCallback=nullptr, void *progressCallbackUserData=nullptr)
static MLErrorCode	updateImageProperties (PagedImage *image)
static void	freeTile (void *data)
	For documentation see Host::freeTile().
static void	updateProgress (const char info1, const char info2)
	For documentation see Host::updateProgress().
static bool	shouldTerminate ()
	For documentation see Host::shouldTerminate().
static Field *	getPressedNotifyField ()
	For documentation see Host::getPressedNotifyField().
static void	adaptPageExtent (ImageVector &pageExtent, MLDataType imageType, const ImageVector &newImgExtent, const ImageVector &oldImgExtent, const ImageVector &pageUnit=ImageVector(0), const ImageVector &minPageExtent=ImageVector(0), const ImageVector &maxPageExtent=ImageVector(0))
static std::string	getVoxelValueAsString (PagedImage image, const ImageVector &position, MLErrorCode errorCode=nullptr, const std::string &errorResult="")
static size_t	getNumModules ()
	Returns the number of instantiated modules.
static Module *	getModule (size_t index)
	Returns a pointer to instantiated module `index`.
static MLint	findModuleIndex (Module &module)
	Returns the index of Module `module`. If not found, -1 is returned.
static void	destroyModule ()
Protected Types inherited from ml::Module
enum	THREAD_SUPPORT { NO_THREAD_SUPPORT = PagedImage::NO_THREAD_SUPPORT , MULTITHREADED = PagedImage::MULTITHREADED , IO_THREAD = PagedImage::IO_THREAD }

Detailed Description

Abstract ML Module class wrapping the pcl::Registration class from the PCL; PCL registration algorithms can/should derive from it to reuse interface descriptions and fields already integrated.

Definition at line 27 of file mlPCLRegistration.h.

Constructor & Destructor Documentation

◆ PCLRegistration()

ml::PCLRegistration::PCLRegistration	(	int	numInputs = 2,
		int	numOutputs = 1 )

Initializes an ML module wrapping a pcl::Registration filter. It adds PCL inputs and outputs as specified, and calls _addPCLRelatedFields.

Member Function Documentation

◆ _addPCLRelatedFields()

void ml::PCLRegistration::_addPCLRelatedFields ( )

protected

Adds fields corresponding to the registration class covered with this class, already called by constructor.

◆ _pclToMLType()

Matrix4 ml::PCLRegistration::_pclToMLType ( Eigen::Matrix< float, 4, 4 > inputType )

inlinestaticprotected

Helper function to converts the input pcl 4x4 matrix to a double matrix and to throw away precision after the available floating point digits to prevent that noise after floating point precision is displayed in result matrices.

Definition at line 63 of file mlPCLRegistration.h.

References pow().

Referenced by _retrieveFilterResultParameters().

◆ _retrieveFilterResultParameters()

template<typename PCL_FILTER>

void ml::PCLRegistration::_retrieveFilterResultParameters ( PCL_FILTER & regObject )

inlineprotected

Retrieves output parameters from filter known in this class.

Definition at line 92 of file mlPCLRegistration.h.

References _pclToMLType(), getFinalTransformationFld(), getFitnessScoreFld(), getHasConvergedFld(), and getLastIncrementalTransformationFld().

◆ _setFilterParameters()

template<typename PCL_FILTER>

void ml::PCLRegistration::_setFilterParameters ( PCL_FILTER & regObject ) const

inlineprotected

Sets the filter parameters known from this class.

Definition at line 82 of file mlPCLRegistration.h.

References getEuclideanFitnessEpsilonFld(), getMaxCorrespondenceDistanceFld(), getMaximumIterationsFld(), getTransformationEpsilonFld(), and mlrange_cast().

◆ activateAttachments()

void ml::PCLRegistration::activateAttachments ( )

overrideprotectedvirtual

Updates internal state after changes of fields without field notifications.

Reimplemented from ml::FieldContainer.

◆ getEuclideanFitnessEpsilonFld()

DoubleField & ml::PCLRegistration::getEuclideanFitnessEpsilonFld ( ) const

inline

Definition at line 39 of file mlPCLRegistration.h.

Referenced by _setFilterParameters().

◆ getFinalTransformationFld()

Matrix4Field & ml::PCLRegistration::getFinalTransformationFld ( ) const

inline

Output fields: For documentation see corresponding field documentation.

Definition at line 44 of file mlPCLRegistration.h.

Referenced by _retrieveFilterResultParameters().

◆ getFitnessScoreFld()

DoubleField & ml::PCLRegistration::getFitnessScoreFld ( ) const

inline

Definition at line 46 of file mlPCLRegistration.h.

Referenced by _retrieveFilterResultParameters().

◆ getHasConvergedFld()

BoolField & ml::PCLRegistration::getHasConvergedFld ( ) const

inline

Definition at line 47 of file mlPCLRegistration.h.

Referenced by _retrieveFilterResultParameters().

◆ getLastIncrementalTransformationFld()

Matrix4Field & ml::PCLRegistration::getLastIncrementalTransformationFld ( ) const

inline

Definition at line 45 of file mlPCLRegistration.h.

Referenced by _retrieveFilterResultParameters().

◆ getMaxCorrespondenceDistanceFld()

DoubleField & ml::PCLRegistration::getMaxCorrespondenceDistanceFld ( ) const

inline

Definition at line 37 of file mlPCLRegistration.h.

Referenced by _setFilterParameters().

◆ getMaximumIterationsFld()

IntField & ml::PCLRegistration::getMaximumIterationsFld ( ) const

inline

Input fields: For documentation see corresponding field documentation.

Definition at line 36 of file mlPCLRegistration.h.

Referenced by _setFilterParameters().

◆ getTransformationEpsilonFld()

DoubleField & ml::PCLRegistration::getTransformationEpsilonFld ( ) const

inline

Definition at line 38 of file mlPCLRegistration.h.

Referenced by _setFilterParameters().

◆ handleNotification()

void ml::PCLRegistration::handleNotification ( Field * field )

overrideprotectedvirtual

Handles field changes of the field field.

Reimplemented from ml::PCLModule.

The documentation for this class was generated from the following file:

FMEstable/PCL/Projects/MLPCLRegistration/Sources/mlPCLRegistration.h

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PCLRegistration()

Member Function Documentation

◆ _addPCLRelatedFields()

◆ _pclToMLType()

◆ _retrieveFilterResultParameters()

◆ _setFilterParameters()

◆ activateAttachments()

◆ getEuclideanFitnessEpsilonFld()

◆ getFinalTransformationFld()

◆ getFitnessScoreFld()

◆ getHasConvergedFld()

◆ getLastIncrementalTransformationFld()

◆ getMaxCorrespondenceDistanceFld()

◆ getMaximumIterationsFld()

◆ getTransformationEpsilonFld()

◆ handleNotification()