mlPCLIterativeClosestPoint.h

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

//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLRegistrationSystem.h"
#include <mlPCLRegistration.h>
#include <PCLThirdPartyWarningsDisable.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <PCLThirdPartyWarningsRestore.h>
 
ML_START_NAMESPACE
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCL_Registration_EXPORT PCLIterativeClosestPoint : public PCLRegistration
{
public:
  PCLIterativeClosestPoint();

  BoolField &getUseReciprocalCorrespondencesFld() const { return *_useReciprocalCorrespondencesFld;  }
  
protected:
  void _addPCLRelatedFields();
  
private:
  template <class MODULE_TYPE>
    friend std::string callSameTyped_filterT(MODULE_TYPE &mod,
                                             const std::string &successfullCalledFilterMessage,
                                             const std::string &noValidPointCloudMessage,
                                             const std::string &noInput1PointCloudMessage,
                                             const std::string &noInput2PointCloudMessage,
                                             const std::string &differentPointCloudMessage);

  BoolField *_useReciprocalCorrespondencesFld;
  
  void _filter() override;

  template <typename POINT_CLOUD_TYPE1,
            typename POINT_CLOUD_TYPE2>
  void _filterT(const POINT_CLOUD_TYPE1 &inputPointCloud1,
                const POINT_CLOUD_TYPE2 &inputPointCloud2);
  
  ML_MODULE_CLASS_HEADER(PCLIterativeClosestPoint);
  
  ML_PCL_TEST_INTERFACE(PCLIterativeClosestPoint);
};
 
ML_END_NAMESPACE