mlPCLModule.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 <mlModuleIncludes.h>
#include <mlPCLObjectPtrsContainer.h>
#include <mlPCLBaseObject.h>
 
ML_START_NAMESPACE
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCLSUPPORT_EXPORT PCLModule : public Module
{
public:
  PCLModule(int numImageInputs=0, int numImageOutputs=0,
            int numPCLInputs=0,   int numPCLOutputs=0,
            bool createEnumAndNotify=false);

  ~PCLModule() override;
  
  BaseField        &getInputPCLBaseObjectField(size_t inIdx) const;
  
  size_t            getNumInputPCLBaseObjectFields() const;
  
  MLPCLObjectPtrsContainer  getInputPCLObjectPtrsContainer(size_t inIdx);

  PCLBaseObject    *getInputPCLBaseObject(size_t inIdx) const;
  
  BaseField        &getOutputPCLBaseObjectField(size_t inIdx) const;
  
  PCLBaseObject    *getOutputPCLBaseObject(size_t inIdx) const;
  
  void              setOutputPCLBaseObject(size_t outIdx, PCLBaseObjectPtr baseObjPtr);
  
  size_t            getNumOutputPCLBaseObjectFields() const;
  
  MLPCLObjectPtrsContainer getOutputPCLObjectPtrsContainer(size_t inIdx);

  template <typename PCL_OBJECT_PTR_TYPE> 
  inline void setOutputPCLObject(size_t              outIdx, 
                                 PCL_OBJECT_PTR_TYPE outputPCLObjectPtr)
  {
    PCLBaseObject *outBaseObject = getOutputPCLBaseObject(outIdx);
    if (!outBaseObject){
      // Create a new base object if there is still no one.
      PCLBaseObjectPtr outBaseObjectPtr(new PCLBaseObject(MLPCLObjectPtrsContainer(outputPCLObjectPtr)));
      setOutputPCLBaseObject(outIdx, outBaseObjectPtr); // Also touches since base value is set.
    }
    else{
      outBaseObject->getPCLObjectPtrsContainer().setPCLObjectPointer(outputPCLObjectPtr);
      getOutputPCLBaseObjectField(outIdx).touch();
    }
  }

  inline void clearOutputPCLPointers(size_t outIdx)
  {
    setOutputPCLObject(outIdx, MLPointCloudXYZPtr());
  }
  
  std::vector<PCLBaseObjectPtr> getNonNullConnectedInputPCLBaseObjects() const;

  bool              hasValidInputPointCloudPointer(size_t inIdx);
  
  bool              hasValidInputPolygonMeshPointer(size_t inIdx);

  EnumField        *getUpdateModeFieldPointer() const;

  NotifyField      *getUpdateFieldPointer() const;
  
  void              setStatusString(const std::string &statusStr);

  std::string       getStatusString() const;

  const StringField &getStatusStringField() const;
 
protected:
  void              handleNotification (Field* field) override;

  bool              _needsUpdate(Field *field) const;

  virtual void      _updateConnectionStatus();
 
private:

  StringField            *_statusFld;
  
  EnumField              *_updateModeFld;
  
  NotifyField            *_updateFld;
  
  std::vector<BaseField*> _pclInputConnectors;
  
  std::vector<BaseField*> _pclOutputConnectors;
  
  ML_MODULE_CLASS_HEADER(PCLModule)
  
  
  ML_PCL_TEST_INTERFACE_NO_OVERRIDE(PCLModule);
};
 
ML_END_NAMESPACE