mlPCLBaseObjectWrapper.h

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// Copyright (c) Fraunhofer MEVIS, Germany. All rights reserved.
// **InsertLicense** code author="Wolf Spindler"
//----------------------------------------------------------------------------------
 
//----------------------------------------------------------------------------------
 
#ifndef __mlPCLBaseObjectWrapper_H
#define __mlPCLBaseObjectWrapper_H
 
#include <ThirdPartyWarningsDisable.h>
#include <QObject>
#include <Base/mlabCoreServices.h>
#include <ThirdPartyWarningsRestore.h>
#include "mlPCLBaseObject.h"
 
// Forward to internally used helper class.
class MLPCLBaseObjectWrapperTypedWrapper;
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCLBaseObjectWrapper : public QObject
{
    Q_OBJECT;
 
public:
    MLPCLBaseObjectWrapper(ML_NAMESPACE::PCLBaseObject* pclBaseObject);
 
    ~MLPCLBaseObjectWrapper() override;
 
public slots:
 
    size_t getPCLMajorVersion() const;
    
    size_t getPCLMinorVersion() const;
    
    size_t getPCLRevisionVersion() const;
    
    QString getPCLVersionString() const;
    
    bool   hasValidPointCloudPointer() const;
 
    bool   hasValidPolygonMeshPointer() const;
 
    bool   hasValidPCLObjectPointer() const;
 
    bool   isXYZPointCloud() const;
    
    bool   isXYZLNormalPointCloud() const;
    
    bool   isXYZRGBNormalPointCloud() const;
    
    bool   isXYZINormalPointCloud() const;
    
    bool   isPolygonMesh() const;
    
    void   clearPCLObjectPointers();
    
    void   createEmptyXYZPointCloud();
    
    void   createEmptyXYZLNormalPointCloud();
    
    void   createEmptyXYZRGBNormalPointCloud();
    
    void   createEmptyXYZINormalPointCloud();
    
    void   createEmptyPolygonMesh();
    
    void   resizePointCloud(size_t newNumEntries);
    
    size_t getNumberOfPoints() const;
    
    size_t getWidth() const;
    
    size_t getHeight() const;
    
    bool   getIsDense() const;
    
    bool   getIsOrganized() const;
    
    void   setIntensityReplacement(size_t idx, float replVal);
    
    float  getIntensityReplacement(size_t idx) const;
    
    float   getPointMemberX          (size_t idx) const;
    float   getPointMemberY          (size_t idx) const;
    float   getPointMemberZ          (size_t idx) const;
    float   getPointMemberNormalX    (size_t idx) const;
    float   getPointMemberNormalY    (size_t idx) const;
    float   getPointMemberNormalZ    (size_t idx) const;
    float   getPointMemberCurvature  (size_t idx) const;
    float   getPointMemberRGBAAsFloat(size_t idx) const;
    float   getPointMemberIntensity  (size_t idx) const;
    quint32 getPointMemberRGBAAsInt  (size_t idx) const;
    quint32 getPointMemberLabel      (size_t idx) const;
    
    void    setPointMemberXYZ        (size_t idx, float x, float y, float z);
    void    setPointMemberXYZIntensityReplacement(size_t idx, float x, float y, float z, float val);
    void    setPointMemberNormalXYZ  (size_t idx, float x, float y, float z);
 
    void    setPointMemberXYZIntensityReplacement(PyObject* x, PyObject* y, PyObject* z, PyObject* val);
    
    void    setPointMemberX          (size_t idx, float val);
    void    setPointMemberY          (size_t idx, float val);
    void    setPointMemberZ          (size_t idx, float val);
    void    setPointMemberNormalX    (size_t idx, float val);
    void    setPointMemberNormalY    (size_t idx, float val);
    void    setPointMemberNormalZ    (size_t idx, float val);
    void    setPointMemberCurvature  (size_t idx, float val);
    void    setPointMemberIntensity  (size_t idx, float val);
    void    setPointMemberRGBAAsFloat(size_t idx, float val);
    void    setPointMemberRGBAAsInt  (size_t idx, quint32 val);
    void    setPointMemberLabel      (size_t idx, quint32 val);
    
    size_t getNumberOfIndexSetsInIndexVector() const;
    
    size_t getNumberOfIndicesInNthIndexVector(size_t nthIndexSet) const;
    
    size_t getNumberOfComposedIndices() const;
    
    void   resizeVectorOfIndexVectors(size_t numIndexVectors);
    
    void   resizeNthVectorOfIndexVectors(size_t nthIndexSet, size_t numIndices);
 
    void   clearVectorOfIndexVectors();
    
    int    getIndex(size_t idxVecIdx, size_t idx) const;
    
    void   setIndex(size_t idxVecIdx, size_t idx, int newVal);
    
    void   setIndexSet(size_t idxVecIdx, PyObject* idxSet);
    
private:
    ml::PCLBaseObject* _pclBaseObject;
 
    MLPCLBaseObjectWrapperTypedWrapper* _typedWrapper;
    
    void _updateTypedWrapper();
};
 
#endif