Abstract ML Module class wrapping the pcl::Registration class from the PCL; PCL registration algorithms can/should derive from it to reuse interface descriptions and fields already integrated. More...

#include <mlPCLRegistration.h>

Inheritance diagram for ml::PCLRegistration:

Public Member Functions
	PCLRegistration (int numInputs=2, int numOutputs=1)
	Initializes an ML module wrapping a pcl::Registration filter.


IntField &	getMaximumIterationsFld () const
	Input fields: For documentation see corresponding field documentation.

DoubleField &	getMaxCorrespondenceDistanceFld () const

DoubleField &	getTransformationEpsilonFld () const

DoubleField &	getEuclideanFitnessEpsilonFld () const


Matrix4Field &	getFinalTransformationFld () const
	Output fields: For documentation see corresponding field documentation.

Matrix4Field &	getLastIncrementalTransformationFld () const

DoubleField &	getFitnessScoreFld () const

BoolField &	getHasConvergedFld () const

Public Member Functions inherited from ml::PCLModule
	PCLModule (int numImageInputs=0, int numImageOutputs=0, int numPCLInputs=0, int numPCLOutputs=0, bool createEnumAndNotify=false)
	Constructor which created numImageInputs image inputs, numImageOutputs image outputs, numPCLInputs PCLBaseObject input connectors, and numPCLOutputs PCLBaseObject output connectors.

	~PCLModule () override
	Destructor.

BaseField &	getInputPCLBaseObjectField (size_t inIdx) const
	Returns the base field of the idx'th input connector if it exists, accessing non existing indexes is not allowed.

size_t	getNumInputPCLBaseObjectFields () const
	Returns the number of PCLBaseObject input connectors.

MLPCLObjectPtrsContainer	getInputPCLObjectPtrsContainer (size_t inIdx)
	Convenience function which returns an PointCloudPointers pointer for an existing input PCLBaseObject connector; if no base object is available at the connector then a nullptr pointer is returned; accesses to non existing PCLBaseObject-connectors are not allowed.

PCLBaseObject *	getInputPCLBaseObject (size_t inIdx) const
	Returns the PCL base object of the idx'th input connector if it exists, accessing non existing indexes is not allowed; if the connection is open or nullptr is passed via it then nullptr is returned.

BaseField &	getOutputPCLBaseObjectField (size_t inIdx) const
	Returns the base field of the idx'th output connector if it exists, accessing non existing indexes is not allowed.

PCLBaseObject *	getOutputPCLBaseObject (size_t inIdx) const
	Returns the PCL base object of the idx'th output connector if it exists, accessing non existing indexes is not allowed.

void	setOutputPCLBaseObject (size_t outIdx, PCLBaseObjectPtr baseObjPtr)
	Sets the PCL base object of the idx'th output connector if it exists, using non existing indexes is not allowed.

size_t	getNumOutputPCLBaseObjectFields () const
	Returns the number of PCLBaseObject output connectors.

MLPCLObjectPtrsContainer	getOutputPCLObjectPtrsContainer (size_t inIdx)
	Convenience function which returns an PointCloudPointers container for an existing output PCLBaseObject connector; if no base object is available at the connector then a nullptr pointer is returned; accesses to non existing PCLBaseObject-connectors are not allowed.

template<typename PCL_OBJECT_PTR_TYPE >
void	setOutputPCLObject (size_t outIdx, PCL_OBJECT_PTR_TYPE outputPCLObjectPtr)
	Sets a new PCL object at output `outIdx`; if no base object exists one is created (which always touches the output field); if any other pointer is already set then it is reset.

void	clearOutputPCLPointers (size_t outIdx)
	Resets all point cloud pointers at outIdx to nullptr; if no output base object exists then one is created.

std::vector< PCLBaseObjectPtr >	getNonNullConnectedInputPCLBaseObjects () const
	Returns a vector of all connected non nullptr PCLBaseObjects.

bool	hasValidInputPointCloudPointer (size_t inIdx)
	Returns true if at input `inIdx` a valid point cloud is connected (which, however, could contain only zero points!), or false if no valid point cloud is connected; accessing non existing indexes is not allowed.

bool	hasValidInputPolygonMeshPointer (size_t inIdx)
	Returns true if at input `inIdx` a valid polygon mesh is connected (which, however, could be empty!), or false if no valid polygon mesh is connected; accessing non existing indexes is not allowed.

EnumField *	getUpdateModeFieldPointer () const
	Returns the update mode field if it has been created in the constructor, otherwise nullptr is returned.

NotifyField *	getUpdateFieldPointer () const
	Returns the update field if it has been created in the constructor, otherwise nullptr is returned.

void	setStatusString (const std::string &statusStr)
	Sets a status string in the status field.

std::string	getStatusString () const
	Sets a status string in the status field.

const StringField &	getStatusStringField () const
	Returns a constant reference to the status string field, for example to compare to it in handle Notification.

Public Member Functions inherited from ml::Module
MLMetaProfilePtr &	getMetaProfile () const
	Returns the meta profile for the base operator.

const char *	getTypeNameFast () const
	Macro to declare methods for the ML runtime type system (see mlRuntimeSubClass.h).

	Module (int numInputImages, int numOutputImages)
	Constructor: Initializes `numInputImages` input images and `numOutputImages` output images of the module.

	~Module () override
	Destructor: Destroys this module.

InputConnectorField *	getInputImageField (MLint i) const
	Returns the field representing input image `i`. `i` must be a valid index.

OutputConnectorField *	getOutputImageField (MLint i=0) const
	Returns field representing output image `i`. `i` must be a valid index.

MLint	getNumInputImages () const
	Returns number of input images of this module.

MLint	getNumOutputImages () const
	Returns number of output images of this module.

PagedImage *	getOutputImage (MLint outputIndex=0) const
	Returns output image `outputIndex`. The index needs to be in the range [0, getNumOutputImages()-1].

InputConnectorField *	addInputImage (const char *name=nullptr)
	Adds a new input image with `name` to the module.

OutputConnectorField *	addOutputImage (const char *name=nullptr)
	Adds a new output image with `name` to the module.

PagedImage *	getInputImage (MLint inputIndex, bool getReal=false) const
	Returns the output image of the module connected to input `inputIndex`.

PagedImage *	getUpdatedInputImage (MLint inputIndex, bool getReal=false) const
	Convenience method for safe access to the input image at index `inputIndex`.

MLErrorCode	processAllPages (int outputIndex=-1, SubImageBox region=SubImageBox(), MLRequestProgressCB progressCallback=nullptr, void progressCallbackUserData=nullptr)
	Processes all pages of a module for easy implementation of page-based image processing of complete images.

MLErrorCode	processAllPages (ProcessAllPagesHandler &handler, SubImageBox region=SubImageBox(), MLRequestProgressCB progressCallback=nullptr, void progressCallbackUserData=nullptr)
	Process input images with a ProcessAllPagesHandler `handler` on a temporary output image (which allocates no data) For details, see processAllPages(-1) above.

MLErrorCode	processMissingPages (int outputIndex=0, SubImageBox region=SubImageBox(), MLRequestProgressCB progressCallback=nullptr, void progressCallbackUserData=nullptr)
	Processes all missing pages on the given output image.

void	clearOutputImage (MLint i=0)
	Clear cached output image pages of output image `i`.

MLint	getOutputImageInplace (MLint outputIndex=0) const
	Return optimization flag: Return index of input image whose input tile is used also as output page for output `outputIndex` in calculateOutputSubImage() (instead of allocating its own memory).

MLint	getBypass (MLint outputIndex=0) const
	Returns the currently bypass index or -1 if bypassing is disabled (default).

THREAD_SUPPORT	getThreadSupport () const
	Returns the multithreading mode supported by this module, default is NO_THREAD_SUPPORT.

bool	areRecursiveHandleNotificationsPermitted () const
	Returns if recursive entries in handleNotification are permitted.

MLint	getHandleNotificationEntryCounter () const
	A counter returning the current number of (recursive re)entries in handleNotification.

PERMITTED_TYPES	getVoxelDataTypeSupport () const
	Returns the current state of supported voxel data types.

bool	isSupportedVoxelDataType (MLDataType dt) const
	Check if a given data type is supported on the module as configured with setVoxelDataTypeSupport.

virtual INPUT_HANDLE	handleInput (int, INPUT_STATE) const
	This method may be reimplemented to enable support for invalid input images on the module.

INPUT_STATE	getInputState (MLint index)
	Returns the current state of the input connection.

INPUT_STATE	getUpdatedInputState (MLint index)
	Returns the updated state of the input image by calling updateImageProperties(index) and returning getInputState(index) afterwards.

bool	isInputImageField (Field *field) const
	Returns if the given field is an input image field. This can be used in handleNotification(), to check if one of the input images has changed.

void	touchOutputImageFields () const
	Touch all output image fields to indicate that the images have changed.

virtual void	beginSaveFields ()
	Called before all fields data contents of this modules are saved.

virtual void	endSaveFields ()
	Called after saving all field contents of this module.

Public Member Functions inherited from ml::FieldContainer
	FieldContainer ()
	Constructor.

	~FieldContainer () override
	Destructor: Deletes all added fields.

std::string	whoAmI (bool withInstanceName=true) const
	Returns type and instance name of format "ClassTypeName(instanceName)" if the instance name is not empty and `withInstanceName` is true.

Field *	addField (const char name, const char type, const char *value)
	Adds a new field with name `name`, type `type` and value `value` (coded as string) to the container.

Field *	addField (Field *field)
	Adds a `field`, the ownership of the field is passed to the FieldContainer.

BoolField *	addBool (const char *name)
	Creates a BoolField with `name` and adds it to the container. Default value is false.

BoolField *	addBool (const char *name, bool value)
	Creates a BoolField with `name` and adds it to the container.

IntField *	addInt (const char *name)
	Creates an IntField with `name` and adds it to the container. Default value is 0.

IntField *	addInt (const char *name, MLint value)
	Creates an IntField with `name` and adds it to the container.

EnumField *	addEnum (const char name, const char const *enumerationItemNames, MLint numEnumerationItems)
	Creates an EnumField field with `name` and adds it to the container.

EnumField *	addEnum (const char *name, const std::vector< std::string > &enumerationItemNames)
	Creates an EnumField field with `name` and adds it to the container.

template<typename EnumType >
TypedEnumField< EnumType > *	addEnum (const char *name, const EnumValues< EnumType > &values, EnumType initialValue)
	Creates a TypedEnumField field with `name` and adds it to the container.

FloatField *	addFloat (const char *name)
	Creates a FloatField with `name` and adds it to the container. Default value is 0.f.

FloatField *	addFloat (const char *name, float value)
	Creates a FloatField with `name` and adds it to the container.

ProgressField *	addProgress (const char *name)
	Creates a float ProgressField with `name` and adds it to the container. Default value is 0.f.

ProgressField *	addProgress (const char *name, float value)
	Creates a float ProgressField with `name` and adds it to the container.

DoubleField *	addDouble (const char *name)
	Creates a DoubleField with `name` and adds it to the container. Default value is 0.

DoubleField *	addDouble (const char *name, double value)
	Creates a DoubleField with `name` and adds it to the container.

StringField *	addString (const char *name)
	Creates a StringField with `name` and adds it to the container. Default value is empty string.

StringField *	addString (const char *name, const std::string &value)
	Creates a StringField with `name` and adds it to the container.

NotifyField *	addNotify (const char *name)
	Creates a NotifyField field with `name` and adds it to the container.

TriggerField *	addTrigger (const char *name)
	Creates a TriggerField field with `name` and adds it to the container.

BaseField *	addBase (const char *name)
	Creates a Base field with `name` and adds it to the container. Default value is NULL.

BaseField *	addBase (const char name, Base value)
	Creates a Base field with `name` and adds it to the container.

BaseField *	addBase (const char *name, const RefCountedBasePtr &value)
	Creates a Base field with `name` and adds it to the container. Sets the value from intrusive pointer.

template<typename T >
BaseField *	addBaseWithAllowedType (const char name, T value=nullptr)
	As above, but also sets the allowed type of the field.

template<typename T >
BaseField *	addBaseWithAllowedType (const char *name, const ::boost::intrusive_ptr< T > &value)
	As above, but also sets the allowed type of the field.

template<typename T >
TypedBaseField< T > *	addTypedBase (const char *name)
	Creates a TypedBaseField with `name` and adds it to the container. Default value is NULL.

template<typename T >
TypedBaseField< T > *	addTypedBase (const char name, T value)
	Creates a TypedBaseField with `name` and adds it to the container.

template<typename T >
TypedBaseField< T > *	addTypedBase (const char *name, const ::boost::intrusive_ptr< T > &value)
	Creates a TypedBaseField with `name` and adds it to the container. Sets the value from intrusive pointer.

SoNodeField *	addSoNode (const char *name)
	Creates a SoNodeField with `name` and adds it to the container. Default value is NULL.

SoNodeField *	addSoNode (const char name, SoNode value)
	Creates a SoNodeField with `name` and adds it to the container.

PointerField *	addPointer (const char *name)
	Creates a PointerField with `name` and adds it to the container.

Vector2Field *	addVector2 (const char *name)
	Creates a Vector2Field with `name` and adds it to the container.

Vector2Field *	addVector2 (const char *name, const Vector2 &value)
	Creates a Vector2Field with `name` and adds it to the container.

Vector2Field *	addVector2 (const char *name, double x, double y)
	Creates a Vector2Field with `name` and adds it to the container.

Vector3Field *	addVector3 (const char *name)
	Creates a Vector3Field with `name` and adds it to the container.

Vector3Field *	addVector3 (const char *name, const Vector3 &value)
	Creates a Vector3Field with `name` and adds it to the container.

Vector3Field *	addVector3 (const char *name, double x, double y, double z)
	Creates a Vector3Field with `name` and adds it to the container.

Vector4Field *	addVector4 (const char *name)
	Creates a Vector4Field with `name` and adds it to the container.

Vector4Field *	addVector4 (const char *name, const Vector4 &value)
	Creates a Vector4Field with `name` and adds it to the container.

Vector4Field *	addVector4 (const char *name, double x, double y, double z, double w)
	Creates a Vector4Field with `name` and adds it to the container.

Vector5Field *	addVector5 (const char *name)
	Creates a Vector5Field with `name` and adds it to the container.

Vector5Field *	addVector5 (const char *name, const Vector5 &value)
	Creates a Vector5Field with `name` and adds it to the container.

Vector6Field *	addVector6 (const char *name)
	Creates a Vector6Field with `name` and adds it to the container.

Vector6Field *	addVector6 (const char *name, const Vector6 &value)
	Creates a Vector6Field with `name` and adds it to the container.

Vector10Field *	addVector10 (const char *name)
	Creates a Vector10Field with `name` and adds it to the container.

Vector10Field *	addVector10 (const char *name, const Vector10 &value)
	Creates a Vector10Field with `name` and adds it to the container.

ImageVectorField *	addImageVector (const char *name)
	Creates a ImageVectorField with `name` and adds it to the container.

ImageVectorField *	addImageVector (const char *name, const ImageVector &value)
	Creates a ImageVectorField with `name` and adds it to the container.

ImageVectorField *	addImageVector (const char *name, MLint x, MLint y, MLint z, MLint c, MLint t, MLint u)
	Creates a ImageVectorField with `name` and adds it to the container.

SubImageBoxField *	addSubImageBox (const char *name)
	Creates a SubImageBoxField with `name` and adds it to the container.

SubImageBoxField *	addSubImageBox (const char *name, const SubImageBox &value)
	Creates a SubImageBoxField with `name` and adds it to the container.

SubImageBoxdField *	addSubImageBoxd (const char *name)
	Creates a SubImageBoxd field with `name` and adds it to the container.

SubImageBoxdField *	addSubImageBoxd (const char *name, const SubImageBoxd &value)
	Creates a SubImageBoxd field with `name` and adds it to the container.

ColorField *	addColor (const char *name)
	Creates a ColorField with `name` and adds it to the container.

ColorField *	addColor (const char *name, float r, float g, float b)
	Creates a ColorField with `name` and adds it to the container.

ColorField *	addColor (const char *name, const Vector3 &value)
	Creates a ColorField with `name` and adds it to the container.

PlaneField *	addPlane (const char *name)
	Creates a PlaneField with `name` and adds it to the container.

PlaneField *	addPlane (const char *name, double f0, double f1, double f2, double f3)
	Creates a PlaneField with `name` and adds it to the container.

PlaneField *	addPlane (const char *name, const Plane &value)
	Creates a PlaneField with `name` and adds it to the container.

RotationField *	addRotation (const char *name)
	Creates a RotationField with `name` and adds it to the container.

RotationField *	addRotation (const char *name, const Rotation &value)
	Creates a RotationField with `name` and adds it to the container.

Matrix2Field *	addMatrix2 (const char *name)
	Creates a Matrix2Field with `name` and adds it to the container.

Matrix2Field *	addMatrix2 (const char *name, const Matrix2 &value)
	Creates a Matrix2Field with `name` and adds it to the container.

Matrix3Field *	addMatrix3 (const char *name)
	Creates a Matrix3Field with `name` and adds it to the container.

Matrix3Field *	addMatrix3 (const char *name, const Matrix3 &value)
	Creates a Matrix3Field with `name` and adds it to the container.

Matrix4Field *	addMatrix4 (const char *name)
	Creates a Matrix4Field with `name` and adds it to the container.

Matrix4Field *	addMatrix4 (const char *name, const Matrix4 &value)
	Creates a Matrix4Field with `name` and adds it to the container.

Matrix5Field *	addMatrix5 (const char *name)
	Creates a Matrix5Field with `name` and adds it to the container.

Matrix5Field *	addMatrix5 (const char *name, const Matrix5 &value)
	Creates a Matrix5Field with `name` and adds it to the container.

Matrix6Field *	addMatrix6 (const char *name)
	Creates a Matrix6Field with `name` and adds it to the container.

Matrix6Field *	addMatrix6 (const char *name, const Matrix6 &value)
	Creates a Matrix6Field with `name` and adds it to the container.

MatrixField *	addMatrix (const char *name)
	Creates a MatrixField with `name` and adds it to the container.

MatrixField *	addMatrix (const char *name, const Matrix4 &value)
	Creates a MatrixField with `name` and adds it to the container.

MLDataTypeField *	addMLDataType (const char *name)
	Creates a MTDataTypeField with `name` and adds it to the container.

MLDataTypeField *	addMLDataType (const char *name, MLDataType value)
	Creates a MTDataTypeField with `name` and adds it to the container.

UniversalTypeField *	addUniversalType (const char *name)
	Creates an UniversalTypeField field with `name` and adds it to the container.

IntListField *	addIntList (const char *name)
	Creates an IntListField field with `name` and empty list value and adds it to the container.

IntListField *	addIntList (const char *name, const std::vector< MLint > &value)
	Creates an IntListField field with `name` and given list value and adds it to the container.

DoubleListField *	addDoubleList (const char *name)
	Creates an DoubleListField field with `name` and empty list value and adds it to the container.

DoubleListField *	addDoubleList (const char *name, const std::vector< double > &value)
	Creates an DoubleListField field with `name` and given list value and adds it to the container.

Vector2ListField *	addVector2List (const char *name)
	Creates an Vector2ListField field with `name` and empty list value and adds it to the container.

Vector2ListField *	addVector2List (const char *name, const std::vector< Vector2 > &value)
	Creates an Vector2ListField field with `name` and given list value and adds it to the container.

Vector3ListField *	addVector3List (const char *name)
	Creates an Vector3ListField field with `name` and empty list value and adds it to the container.

Vector3ListField *	addVector3List (const char *name, const std::vector< Vector3 > &value)
	Creates an Vector3ListField field with `name` and given list value and adds it to the container.

Vector4ListField *	addVector4List (const char *name)
	Creates an Vector4ListField field with `name` and empty list value and adds it to the container.

Vector4ListField *	addVector4List (const char *name, const std::vector< Vector4 > &value)
	Creates an Vector4ListField field with `name` and given list value and adds it to the container.

size_t	getNumFields () const
	Returns the number of added fields.

bool	hasField (const std::string &name) const
	Returns true if the field with name `name` exists; otherwise false is returned.

Field *	getField (const std::string &name) const
	Returns the pointer to the field with name `name`.

Field *	getField (MLint index) const
	Returns pointer of field at `index` if it exists. If not, -1 is returned.

MLint	getFieldIndex (Field *field) const
	Returns index of `field` if it exists. If not, -1 is returned.

void	setFieldStringValue (const std::string &name, const std::string &value)
	Sets the `value` of the field with `name` if it exists.

std::string	getFieldStringValue (const std::string &name) const
	Returns the string value of the field with `name` if it is found.

virtual void	deactivateAttachments ()
	Disables notification handling, i.e., all fields of this module will not send notifications to attached sensors and fields any more if their values are set or changed.

Public Member Functions inherited from ml::Base
	Base ()
	Constructor.

virtual	~Base ()
	Destructor.

virtual Base *	deepCopy () const
	Set addStateToTree version number that can be accessed via getAddStateVersion()

bool	isOfAllowedType (const std::vector< const RuntimeType * > &types) const
	Check if this object's type is equal to or derived from one of the types given in the argument.

virtual bool	isRefCountedBase () const
	Returns if the instance is derived from RefCountedBase.

virtual std::string	detailString () const
	Return a string describing this object.

virtual bool	implementsPersistence (PersistenceInterface) const
	Override this method to declare which persistence interfaces are implemented by your derived class.

virtual std::string	persistentState () const
	Returns a string describing the object's internal state.

virtual void	setPersistentState (const std::string &state)
	Restores the object's internal state from a string that had been previously generated using `persistentState()`.

virtual void	addStateToTree (TreeNode *) const
	Attaches the object state as children of the given parent node.

virtual void	readStateFromTree (TreeNode *)
	Reads the object state from the children of the given parent node.

virtual void	writeTo (AbstractPersistenceOutputStream *) const
	Write the objects state to the data stream object.

virtual void	readFrom (AbstractPersistenceInputStream *, int)
	Read the objects state from the data stream object.

Protected Member Functions
void	activateAttachments () override
	Updates internal state after changes of fields without field notifications.

void	handleNotification (Field *field) override
	Handles field changes of the field `field`.

void	_addPCLRelatedFields ()
	Adds fields corresponding to the registration class covered with this class, already called by constructor.

template<typename PCL_FILTER >
void	_setFilterParameters (PCL_FILTER &regObject) const
	Sets the filter parameters known from this class.

template<typename PCL_FILTER >
void	_retrieveFilterResultParameters (PCL_FILTER &regObject)
	Retrieves output parameters from filter known in this class.

Protected Member Functions inherited from ml::PCLModule
bool	_needsUpdate (Field *field) const
	If _updateModeFld and _updateFld settings with field require an update then true is returned, otherwise false.

virtual void	_updateConnectionStatus ()
	If there is at least one input connector for a point cloud then this updates the status field with information about the number of valid connected objects.

Protected Member Functions inherited from ml::Module
void	handleNotificationInternal (Field *field, FieldSensor::Strength strength) override
	Called from FieldContainer whenever a field changes.

virtual void	provideCustomPage (int, const SubImageBox &, MLMemoryBlockHandle &)
	This method allows a Module to provide its own pages to the Host for the `outputIndex` output image.

void	handleNotificationOff ()
	Decreases lock counter for handleNotification calls.

void	handleNotificationOn ()
	Increases lock counter for handleNotification calls.

bool	isHandleNotificationOn ()
	Returns true if handleNotification calls are permitted, otherwise false.

void	setOutputImageInplace (MLint outputIndex=0, MLint inputIndex=0)
	Set optimization flag: If calculating a page in calculateOutputSubImage(), the output image page of output `outputIndex` shall use the same memory as the input page of input `inputIndex`.

void	unsetOutputImageInplace (MLint outputIndex=0)
	Clear optimization flag: output page of output at `outputIndex` and input tile shall use different memory buffers in calculateOutputSubImage().

void	setBypass (MLint outputIndex=0, MLint inputIndex=0)
	Sets the input image whose pages can also be used instead of output pages for the output image at `outputIndex` to avoid recalculations.

void	setClampPagesToImageExtent (bool flag=true)
	Enables/disables page clamping on all output images.

void	setThreadSupport (THREAD_SUPPORT supportMode)
	Pass any THREAD_SUPPORT `supportMode` to decide whether and what type of multithreading is supported by this module.

void	permitRecursiveHandleNotifications (bool enable)
	If this flag is set to `enable` =true, recursive entries in handleNotification are permitted.

void	setVoxelDataTypeSupport (PERMITTED_TYPES permTypes)
	Specifies which types this module supports.

virtual CalculateOutputImageHandler *	createCalculateOutputImageHandler (PagedImage *outputImage)
	Creates the CalculateOutputImageHandler for the given output image `outputImage`.

virtual void	calculateOutputImageProperties (int outputIndex, PagedImage *outputImage)
	Set properties of output image `outputImage` with output index `outputIndex`.

virtual SubImageBox	calculateInputSubImageBox (int, const SubImageBox &outputSubImageBox, int)
	Called by the Host to determine which input image region (tile) of input `inputIndex` is required to calculate a certain output image region (page) of output `outputIndex`.

virtual void	calculateOutputSubImage (SubImage outputSubImage, int outputIndex, SubImage inputSubImages)
	Calculate page `outputSubImage` of output image with index `outputIndex` given the input image tiles in array `inputSubImages`.

Static Protected Member Functions
static Matrix4	_pclToMLType (Eigen::Matrix< float, 4, 4 > inputType)
	Helper function to converts the input pcl 4x4 matrix to a double matrix and to throw away precision after the available floating point digits to prevent that noise after floating point precision is displayed in result matrices.

Additional Inherited Members
Public Types inherited from ml::Module
enum	PERMITTED_TYPES { ONLY_SCALAR_TYPES , ONLY_DEFAULT_TYPES , ALL_REGISTERED_TYPES }
	See documentation of setVoxelDataTypeSupport. More...

enum	INPUT_STATE { DISCONNECTED = 0 , CONNECTED_BUT_INVALID = 1 , CONNECTED_AND_VALID = 2 , CONNECTED_BUT_NEEDS_UPDATE = 3 }
	See documentation of handleInput. More...

enum	INPUT_HANDLE { INVALIDATE = 0 , ALLOW_INVALID_INPUT = 2 }
	See documentation of handleInput. More...

Public Types inherited from ml::Base
enum	PersistenceInterface { PersistenceByString , PersistenceByTreeNode , PersistenceByStream }
	This enum describes the different persistence interfaces available. More...

Static Public Member Functions inherited from ml::Module
static MLErrorCode	getTile (PagedImage image, SubImageBox loc, MLDataType datatype, void data, const ScaleShiftData &scaleShiftData=ScaleShiftData(), MLRequestProgressCB progressCallback=nullptr, void *progressCallbackUserData=nullptr)
	For documentation see Host::getTile() function with same signature.

static MLErrorCode	getTile (PagedImage image, SubImage &subimg, const ScaleShiftData &scaleShiftData=ScaleShiftData(), MLRequestProgressCB progressCallback=nullptr, void *progressCallbackUserData=nullptr)
	For documentation see Host::getTile() function with same signature and Module passed as reference.

static MLErrorCode	updateImageProperties (PagedImage *image)
	For documentation see Host::updateImageProperties() function with same signature.

static void	freeTile (void *data)
	For documentation see Host::freeTile().

static void	updateProgress (const char info1, const char info2)
	For documentation see Host::updateProgress().

static bool	shouldTerminate ()
	For documentation see Host::shouldTerminate().

static Field *	getPressedNotifyField ()
	For documentation see Host::getPressedNotifyField().

static void	adaptPageExtent (ImageVector &pageExtent, MLDataType imageType, const ImageVector &newImgExtent, const ImageVector &oldImgExtent, const ImageVector &pageUnit=ImageVector(0), const ImageVector &minPageExtent=ImageVector(0), const ImageVector &maxPageExtent=ImageVector(0))
	Adapt page size.

static std::string	getVoxelValueAsString (PagedImage image, const ImageVector &position, MLErrorCode errorCode=nullptr, const std::string &errorResult="")
	Returns the voxel value at position `position` of the image `image`.

static size_t	getNumModules ()
	Returns number of instantiated modules.

static Module *	getModule (size_t index)
	Returns pointer to instantiated module `index`.

static MLint	findModuleIndex (Module &module)
	Returns index of Module `module`. If not found -1 is returned.

static void	destroyModule ()
	Destroys static allocated tables to avoid memory leaks.

Protected Types inherited from ml::Module
enum	THREAD_SUPPORT { NO_THREAD_SUPPORT = PagedImage::NO_THREAD_SUPPORT , MULTITHREADED = PagedImage::MULTITHREADED , IO_THREAD = PagedImage::IO_THREAD }
	Enumerator deciding whether and which type of multithreading is supported by this module. More...

Detailed Description

Abstract ML Module class wrapping the pcl::Registration class from the PCL; PCL registration algorithms can/should derive from it to reuse interface descriptions and fields already integrated.

Definition at line 27 of file mlPCLRegistration.h.

Constructor & Destructor Documentation

◆ PCLRegistration()

ml::PCLRegistration::PCLRegistration	(	int	numInputs = 2,
		int	numOutputs = 1 )

Initializes an ML module wrapping a pcl::Registration filter.

It adds PCL inputs and outputs as specified, and calls _addPCLRelatedFields.

Member Function Documentation

◆ _addPCLRelatedFields()

void ml::PCLRegistration::_addPCLRelatedFields ( )

protected

Adds fields corresponding to the registration class covered with this class, already called by constructor.

◆ _pclToMLType()

static Matrix4 ml::PCLRegistration::_pclToMLType ( Eigen::Matrix< float, 4, 4 > inputType )

inlinestaticprotected

Helper function to converts the input pcl 4x4 matrix to a double matrix and to throw away precision after the available floating point digits to prevent that noise after floating point precision is displayed in result matrices.

Definition at line 63 of file mlPCLRegistration.h.

References mlrange_cast().

◆ _retrieveFilterResultParameters()

template<typename PCL_FILTER >

void ml::PCLRegistration::_retrieveFilterResultParameters ( PCL_FILTER & regObject )

inlineprotected

Retrieves output parameters from filter known in this class.

Definition at line 92 of file mlPCLRegistration.h.

References mlrange_cast().

◆ _setFilterParameters()

template<typename PCL_FILTER >

void ml::PCLRegistration::_setFilterParameters ( PCL_FILTER & regObject ) const

inlineprotected

Sets the filter parameters known from this class.

Definition at line 82 of file mlPCLRegistration.h.

References mlrange_cast().

◆ activateAttachments()

void ml::PCLRegistration::activateAttachments ( )

overrideprotectedvirtual

Updates internal state after changes of fields without field notifications.

Reimplemented from ml::FieldContainer.

◆ getEuclideanFitnessEpsilonFld()

DoubleField & ml::PCLRegistration::getEuclideanFitnessEpsilonFld ( ) const

inline

Definition at line 39 of file mlPCLRegistration.h.

◆ getFinalTransformationFld()

Matrix4Field & ml::PCLRegistration::getFinalTransformationFld ( ) const

inline

Output fields: For documentation see corresponding field documentation.

Definition at line 44 of file mlPCLRegistration.h.

◆ getFitnessScoreFld()

DoubleField & ml::PCLRegistration::getFitnessScoreFld ( ) const

inline

Definition at line 46 of file mlPCLRegistration.h.

◆ getHasConvergedFld()

BoolField & ml::PCLRegistration::getHasConvergedFld ( ) const

inline

Definition at line 47 of file mlPCLRegistration.h.

◆ getLastIncrementalTransformationFld()

Matrix4Field & ml::PCLRegistration::getLastIncrementalTransformationFld ( ) const

inline

Definition at line 45 of file mlPCLRegistration.h.

◆ getMaxCorrespondenceDistanceFld()

DoubleField & ml::PCLRegistration::getMaxCorrespondenceDistanceFld ( ) const

inline

Definition at line 37 of file mlPCLRegistration.h.

◆ getMaximumIterationsFld()

IntField & ml::PCLRegistration::getMaximumIterationsFld ( ) const

inline

Input fields: For documentation see corresponding field documentation.

Definition at line 36 of file mlPCLRegistration.h.

◆ getTransformationEpsilonFld()

DoubleField & ml::PCLRegistration::getTransformationEpsilonFld ( ) const

inline

Definition at line 38 of file mlPCLRegistration.h.

◆ handleNotification()

void ml::PCLRegistration::handleNotification ( Field * field )

overrideprotectedvirtual

Handles field changes of the field field.

Reimplemented from ml::PCLModule.

The documentation for this class was generated from the following file:

FMEstable/PCL/Projects/MLPCLRegistration/Sources/mlPCLRegistration.h

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PCLRegistration()

Member Function Documentation

◆ _addPCLRelatedFields()

◆ _pclToMLType()

◆ _retrieveFilterResultParameters()

◆ _setFilterParameters()

◆ activateAttachments()

◆ getEuclideanFitnessEpsilonFld()

◆ getFinalTransformationFld()

◆ getFitnessScoreFld()

◆ getHasConvergedFld()

◆ getLastIncrementalTransformationFld()

◆ getMaxCorrespondenceDistanceFld()

◆ getMaximumIterationsFld()

◆ getTransformationEpsilonFld()

◆ handleNotification()