mlPCLPCA.h

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

//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLCommonSystem.h"
#include <mlPCLModule.h>
 
ML_START_NAMESPACE
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCL_Common_EXPORT PCLPCA : public PCLModule
{
public:
  PCLPCA();
 
protected:
  void activateAttachments() override;

  void handleNotification (Field* field) override;

  virtual void _resetOutputFields();
  
private:
  void _filter();

  template <typename POINT_CLOUD_TYPE> void _filterT(const POINT_CLOUD_TYPE &inputPointCloud);

  Vector4Field *_meanFld;
  
  Vector3Field *_eigenVector0Fld;
  
  Vector3Field *_eigenVector1Fld;
  
  Vector3Field *_eigenVector2Fld;
  
  Vector3Field *_eigenValuesFld;
  
  BoolField   *_keepInformationFld;
  
  // TODO: Dynamic matrix size, thus no field available for direct display.
  //Eigen::MatrixXf PCAFilter.getCoefficients();
  
  ML_MODULE_CLASS_HEADER(PCLPCA);
  
  ML_PCL_TEST_INTERFACE(PCLPCA);
};
 
ML_END_NAMESPACE