mlPCLCloudDistances.h

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// Copyright (c) Fraunhofer MEVIS, Germany. All rights reserved.
// **InsertLicense** code author="Wolf Spindler"
//----------------------------------------------------------------------------------
 
//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLCommonSystem.h"
#include <mlPCLBaseObject.h>
#include <mlPCLModule.h>
 
ML_START_NAMESPACE
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCL_Common_EXPORT PCLCloudDistances : public PCLModule
{
public:
  PCLCloudDistances();
 
protected:
  void activateAttachments() override;
 
  void handleNotification (Field* field) override;
 
private:
  void _invalidate(size_t cloudSize0=ML_SIZE_T_MAX, size_t cloudSize1=ML_SIZE_T_MAX);
  
  void _updateCalculation();
 
  template <typename POINT_CLOUD_TYPE0, typename POINT_CLOUD_TYPE1> 
  void _calculateCloudDistances(const POINT_CLOUD_TYPE0 &inputPointCloud0,
                                const POINT_CLOUD_TYPE1 &inputPointCloud1);
 
private:
  FloatField   *_input0ToInput1DistanceFld;
 
  IntField     *_input0ToInput1IndexFld[2];
 
  Vector3Field *_input0ToInput1PositionFld[2];
 
  
  FloatField   *_input1ToInput0DistanceFld;
  
  IntField     *_input1ToInput0IndexFld[2];
 
  Vector3Field *_input1ToInput0PositionFld[2];
  
  FloatField   *_hausdorffDistanceFld;
 
  
  FloatField   *_input01MinDistanceFld;
  
  IntField     *_input01MinDistanceIndexFld[2];
 
  Vector3Field *_input01MinDistancePositionFld[2];
  
  FloatField   *_minDistanceFld;
 
  
  BoolField    *_resultsValidFld;
  
  
  ML_MODULE_CLASS_HEADER(PCLCloudDistances);
  
  ML_PCL_TEST_INTERFACE(PCLCloudDistances);
};
 
ML_END_NAMESPACE