mlPCLCompare.h

Go to the documentation of this file.

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

//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLSupportSystem.h"
#include <mlPCLBaseObject.h>
#include <mlPCLModule.h>
 
ML_START_NAMESPACE
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCLSUPPORT_EXPORT PCLCompare : public PCLModule
{
public:
  PCLCompare();
 
protected:
  void activateAttachments() override;

  void handleNotification (Field* field) override;
 
private:
  void _postIfNecessary(const std::string &report);

  void _updateComparison(Field *field);

  void _compare();

  std::string _compareNonTyped(MLdouble epsilon,
                               const pcl::PCLHeader &header1,
                               const pcl::PCLHeader &header2,
                               MLPCLPointTypeEnumerators pointTypeEnum1,
                               MLPCLPointTypeEnumerators pointTypeEnum2,
                               uint32_t width1,   uint32_t width2,
                               uint32_t height1,  uint32_t height2,
                               bool isDense1,     bool isDense2,
                               const Eigen::Vector4f &sorigin1,
                               const Eigen::Vector4f &sorigin2,
                               const Eigen::Quaternionf &sorientation1,
                               const Eigen::Quaternionf &sorientation2) const;
  
  template <typename POINT_CLOUD_TYPE1, typename POINT_CLOUD_TYPE2> 
    void _updateComparisonT(const POINT_CLOUD_TYPE1 &inputPointCloud1, 
                            const POINT_CLOUD_TYPE2 &inputPointCloud2);

  template <typename POINT_CLOUD_TYPE0,
            typename POINT_CLOUD_TYPE1>
  std::string _comparePoints(const POINT_CLOUD_TYPE0 &inputPointCloud1,
                             const POINT_CLOUD_TYPE1 &inputPointCloud2,
                             double epsilon) const;

  StringField *_reportFld;

  BoolField   *_postMLErrorFld;

  DoubleField *_epsilonFld;
  
  BoolField   *_compareTypesFld;
  BoolField   *_compareNumPointsFld;
  BoolField   *_compareWidthsFld;
  BoolField   *_compareHeightFld;
  BoolField   *_compareHeaderSeqFld;
  BoolField   *_compareHeaderStampFld;
  BoolField   *_compareHeaderFrameIdFld;
  BoolField   *_compareIsDenseFld;
  BoolField   *_compareSensorOriginFld;
  BoolField   *_compareSensorOrientationFld;
  BoolField   *_comparePointsDataMemberFld;
  BoolField   *_comparePointsOtherMembersFld;

  BoolField   *_testPassedFld;

  std::string _noDifferencesString;
  
  std::string _lastReport;
  
  ML_MODULE_CLASS_HEADER(PCLCompare)
  
  
  ML_PCL_TEST_INTERFACE(PCLCompare);
};
 
ML_END_NAMESPACE