mlPCLSampleConsensusModels.h

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

//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLSampleConsensusSystem.h"
#include <mlPCLModule.h>
#include <PCLThirdPartyWarningsDisable.h>
#include <pcl/sample_consensus/sac_model.h>
#include <PCLThirdPartyWarningsRestore.h>
 
// Define this to compile the experimental output for the samples point cloud, 
// which, however, still does not work as expected.
// #define _COMPILE_SAC_MODEL_PCL_SAMPLE_OUTPUT  
 
 
ML_START_NAMESPACE
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCL_SampleConsensus_EXPORT PCLSampleConsensusModels : public PCLModule
{
public:
  PCLSampleConsensusModels();

  pcl::SampleConsensusModel<pcl::PointXYZ>::Ptr          createModelT(pcl::PointCloud<pcl::PointXYZ>::Ptr          &cloudPtr, std::string &msg);
  pcl::SampleConsensusModel<pcl::PointXYZLNormal>::Ptr   createModelT(pcl::PointCloud<pcl::PointXYZLNormal>::Ptr   &cloudPtr, std::string &msg);
  pcl::SampleConsensusModel<pcl::PointXYZRGBNormal>::Ptr createModelT(pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr &cloudPtr, std::string &msg);
  pcl::SampleConsensusModel<pcl::PointXYZINormal>::Ptr   createModelT(pcl::PointCloud<pcl::PointXYZINormal>::Ptr   &cloudPtr, std::string &msg);
  
  bool needsNormalsInPoints() const;
  
protected:
  void activateAttachments() override;

  void handleNotification (Field* field) override;
 
private:
  
  template <typename POINT_CLOUD_TYPE_PTR> 
    typename pcl::SampleConsensusModel<typename POINT_CLOUD_TYPE_PTR::element_type::PointType>::Ptr 
      _createModelTWithNormals(POINT_CLOUD_TYPE_PTR &cloudPtr, std::string &msg);

  template <typename POINT_CLOUD_TYPE_PTR>
    typename pcl::SampleConsensusModel<typename POINT_CLOUD_TYPE_PTR::element_type::PointType>::Ptr 
      _createModelTWithoutNormals(POINT_CLOUD_TYPE_PTR &cloudPtr, std::string &msg);
  
  template <typename POINT_CLOUD_TYPE_PTR>
    typename pcl::SampleConsensusModel<typename POINT_CLOUD_TYPE_PTR::element_type::PointType>::Ptr 
      _createRegistrationModel(POINT_CLOUD_TYPE_PTR &cloudPtr,
                               std::string          &msg);

  DoubleField  *_epsAngleFld;
  
  DoubleField  *_epsDistFld;
  
  DoubleField  *_normalDistanceWeightFld;
  
  Vector3Field *_axisFld;
  
  DoubleField  *_minOpeningAngleFld;
  
  DoubleField  *_maxOpeningAngleFld;

  EnumField    *_modelTypeFld;

  BaseField    *_outputSacMLModuleBaseFld;
 
#ifdef _COMPILE_SAC_MODEL_PCL_SAMPLE_OUTPUT
  void _createSampleAndSetOutput();

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

  IntField     *_sampleXFld;
  
  IntField     *_sampleYFld;
  
  IntField     *_sampleZFld;
  
  DoubleField  *_distanceThresholdFld;

  FloatField   *_fillValueFld;
  
  NotifyField  *_createSampleModelFld;
  
  EnumField    *_outputPointCloudTypeFld;
#endif  

  ML_MODULE_CLASS_HEADER(PCLSampleConsensusModels);
  
  ML_PCL_TEST_INTERFACE(PCLSampleConsensusModels);
};
 
ML_END_NAMESPACE