mlPCLMLImageToPointCloud.h

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

//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLMLAdaptersSystem.h"
#include <mlPCLModule.h>
#include <mlPCLMLTools.h>
 
ML_START_NAMESPACE
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCL_MLAdapters_EXPORT PCLMLImageToPointCloud : public PCLModule
{
public:
  PCLMLImageToPointCloud();
 
protected:
  void activateAttachments() override;

  void handleNotification (Field* field) override;
 
private:
  PCLMLTools::ImageToPointCloudConversionParameters _getConversionParameters();

  void _update();

  template <typename POINT_CLOUD_PTR_TYPE> void _updateT(const POINT_CLOUD_PTR_TYPE /*inputPointCloudPtr*/);

  EnumField   *_outputPointCloudTypeFld;
  
  DoubleField *_thresholdMinFld;
  
  DoubleField *_thresholdMaxFld;
  
  DoubleField *_lowerValueFld;

  DoubleField *_upperValueFld;
  
  BoolField   *_skipVoxelsBelowMinFld;
  
  BoolField   *_skipVoxelsAboveMaxFld;

  BoolField   *_normalizeInClampedRangeFld;

  BoolField   *_useVectorLengthAsIntensityFld;

  BoolField   *_transformToWorldFld;
  
  ML_MODULE_CLASS_HEADER(PCLMLImageToPointCloud);
  
  ML_PCL_TEST_INTERFACE(PCLMLImageToPointCloud);
};
 
ML_END_NAMESPACE