mlPCLVoxelGrid.h

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

//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLFiltersSystem.h"
#include <mlPCLModule.h>
#include <PCLThirdPartyWarningsDisable.h>
#include <pcl/filters/voxel_grid.h>
#include <PCLThirdPartyWarningsRestore.h>
 
ML_START_NAMESPACE
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCL_Filters_EXPORT PCLVoxelGrid : public PCLModule
{
public:
  PCLVoxelGrid();
 
protected:
  void activateAttachments() override;

  void handleNotification (Field* field) override;
  
  void calculateOutputImageProperties(int outIndex, PagedImage *outImage) override;
  
  void calculateOutputSubImage(SubImage *outSubImage, int outIndex, SubImage *) override;
 
private:
  void _filter();

  template <typename POINT_TYPE, typename POINT_CLOUD_TYPE>
    void _setUpTSubImage(pcl::VoxelGrid<POINT_TYPE> &voxelGridFilter,
                         const POINT_CLOUD_TYPE     &outputPointCloud,
                         float                      fillVal);

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

  StringField  *_filterFieldNameFld;
  
  BoolField    *_downsampleAllDataFld;
  
  FloatField   *_limitMinFld;
  
  FloatField   *_limitMaxFld;

  BoolField    *_filterLimitsNegativeFld;
  
  Vector3Field *_leafSizeFld;
  
  IntField     *_minimumPointsNumberPerVoxelFld;
  
  FloatField   *_fillValueFld;

  TSubImage<MLfloat> _lastSampledGrid;
  
  ML_MODULE_CLASS_HEADER(PCLVoxelGrid);
  
  ML_PCL_TEST_INTERFACE(PCLVoxelGrid);
};
 
ML_END_NAMESPACE