mlPCLClusterStatistics.h

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// Copyright (c) Fraunhofer MEVIS, Germany. All rights reserved.
// **InsertLicense** code author="Wolf Spindler"
//----------------------------------------------------------------------------------

//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLClusterStatisticsSystem.h"
#include <mlPCLBaseObject.h>
#include <mlPCLModule.h>
 
ML_START_NAMESPACE
 
// Forward to internally used class.
class DoubleMultiField;
class IntMultiField;
struct StatisticalClusterInfo;
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCL_ClusterStatistics_EXPORT PCLClusterStatistics : public PCLModule
{
public:
  typedef std::map<MLssize_t, StatisticalClusterInfo> ClusterMap;
  
  PCLClusterStatistics();

  ~PCLClusterStatistics() override;
  
  const ClusterMap &getClusterStatistics() const;
  
protected:
  void activateAttachments() override;

  void handleNotification (Field* field) override;
 
private:
  void _clearStatistics(const std::string &status="Cluster information is invalid");
  
  void _setUpClusterInfoMap(const MLPointCloudXYZINormal &inputPointCloud);

  void _setUpOutputFields();

  void _filter();

  template <typename POINT_CLOUD_TYPE> void _filterT(const POINT_CLOUD_TYPE &inputPointCloud);
 
  
  // Input fields:  
  
  EnumField *_clusterIndexMemberFld;
  
  EnumField *_magnitudeMemberFld;
  
  EnumField *_phaseMemberFld;
 
  
  Vector3Field *_planePointFld;
  
  Vector3Field *_planeNormalFld;
 
  
  // Output fields:  
  IntField *_numClustersFld;

  IntMultiField *_clusterNumPointsFld;
 
  // Magnitude:
  DoubleMultiField *_clusterMagnitudeSumsFld;

  DoubleMultiField *_clusterMagnitudeSumsAbsoluteFld;

  DoubleMultiField *_clusterMagnitudeAveragesFld;

  DoubleMultiField *_clusterMagnitudeAveragesAbsoluteFld;

  DoubleMultiField *_clusterMagnitudeMediansFld;
 
  // Phase:
  DoubleMultiField *_clusterPhaseSumsFld;

  DoubleMultiField *_clusterPhaseSumsAbsoluteFld;

  DoubleMultiField *_clusterPhaseAveragesFld;

  DoubleMultiField *_clusterPhaseAveragesAbsoluteFld;

  DoubleMultiField *_clusterPhaseMediansFld;
 
  
  DoubleMultiField *_clusterCenterOfGravitiesFld;

  DoubleMultiField *_clusterEigenValuesFld;

  DoubleMultiField *_clusterEigenVectorsFld;

  DoubleMultiField *_clusterOrientedExtentsFld;

  DoubleMultiField *_clusterPlaneIntersectionsFld;

  IntMultiField *_clusterPlaneIntersectionsOkFld;
  
  
  BaseField  *_outputBaseFld;
 
  
  ClusterMap *_clusterMap;
  
  ML_MODULE_CLASS_HEADER(PCLClusterStatistics);
  
  ML_PCL_TEST_INTERFACE(PCLClusterStatistics);
};
 
ML_END_NAMESPACE