mlPCLSampleConsensus.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.h>
#include <PCLThirdPartyWarningsRestore.h>
 
ML_START_NAMESPACE
 
class FloatMultiField;
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCL_SampleConsensus_EXPORT PCLSampleConsensus : public PCLModule
{
public:
  PCLSampleConsensus();
 
protected:
  void activateAttachments() override;

  void handleNotification (Field* field) override;
 
private:
  void _clampValues();
  
  void _filter();

  template <typename POINT_CLOUD_TYPE_PTR> void _filterT(POINT_CLOUD_TYPE_PTR inputPointCloudPtr);

  template <typename MODEL_TYPE>
    typename pcl::SampleConsensus<typename MODEL_TYPE::element_type::PointCloud::PointType>::Ptr
      _createSampleConsensusInstanceT(MODEL_TYPE model, std::string &msg);

  EnumField   *_sacTypeFld;

  DoubleField *_distanceThresholdFld;
 
  IntField    *_maxIterationsFld;

  DoubleField *_probabilityFld;

  IntField    *_emIterationsFld;

  DoubleField *_fractionNrPretestFld;
 
  // //! Return the best model found so far. More...
  // void  getModel (std::vector< int > &model)

  FloatMultiField *_modelCoefficientsFld;
  
  BaseField *_inputSacMLModuleBaseFld;
  
  ML_MODULE_CLASS_HEADER(PCLSampleConsensus);
  
  ML_PCL_TEST_INTERFACE(PCLSampleConsensus);
};
 
ML_END_NAMESPACE