mlPCLClusterStatistics.h

Go to the documentation of this file.

// Copyright (c) Fraunhofer MEVIS, Germany. All rights reserved.
// **InsertLicense** code author="Wolf Spindler"
//----------------------------------------------------------------------------------
 
//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLClusterStatisticsSystem.h"
#include <mlPCLBaseObject.h>
#include <mlPCLModule.h>
 
ML_START_NAMESPACE
 
// Forward to internally used class.
class DoubleMultiField;
class IntMultiField;
struct StatisticalClusterInfo;
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCL_ClusterStatistics_EXPORT PCLClusterStatistics : public PCLModule
{
public:
  typedef std::map<MLssize_t, StatisticalClusterInfo> ClusterMap;
  
  PCLClusterStatistics();
 
  ~PCLClusterStatistics() override;
  
  const ClusterMap &getClusterStatistics() const;
  
protected:
  void activateAttachments() override;
 
  void handleNotification (Field* field) override;
 
private:
  void _clearStatistics(const std::string &status="Cluster information is invalid");
  
  void _setUpClusterInfoMap(const MLPointCloudXYZINormal &inputPointCloud);
 
  void _setUpOutputFields();
 
  void _filter();
 
  template <typename POINT_CLOUD_TYPE> void _filterT(const POINT_CLOUD_TYPE &inputPointCloud);
 
  
  // Input fields:  
  
  EnumField *_clusterIndexMemberFld;
  
  EnumField *_magnitudeMemberFld;
  
  EnumField *_phaseMemberFld;
 
  
  Vector3Field *_planePointFld;
  
  Vector3Field *_planeNormalFld;
 
  
  // Output fields:  
  IntField *_numClustersFld;
 
  IntMultiField *_clusterNumPointsFld;
 
  // Magnitude:
  DoubleMultiField *_clusterMagnitudeSumsFld;
 
  DoubleMultiField *_clusterMagnitudeSumsAbsoluteFld;
 
  DoubleMultiField *_clusterMagnitudeAveragesFld;
 
  DoubleMultiField *_clusterMagnitudeAveragesAbsoluteFld;
 
  DoubleMultiField *_clusterMagnitudeMediansFld;
 
  // Phase:
  DoubleMultiField *_clusterPhaseSumsFld;
 
  DoubleMultiField *_clusterPhaseSumsAbsoluteFld;
 
  DoubleMultiField *_clusterPhaseAveragesFld;
 
  DoubleMultiField *_clusterPhaseAveragesAbsoluteFld;
 
  DoubleMultiField *_clusterPhaseMediansFld;
 
  
  DoubleMultiField *_clusterCenterOfGravitiesFld;
 
  DoubleMultiField *_clusterEigenValuesFld;
 
  DoubleMultiField *_clusterEigenVectorsFld;
 
  DoubleMultiField *_clusterOrientedExtentsFld;
 
  DoubleMultiField *_clusterPlaneIntersectionsFld;
 
  IntMultiField *_clusterPlaneIntersectionsOkFld;
  
  
  BaseField  *_outputBaseFld;
 
  
  ClusterMap *_clusterMap;
  
  ML_MODULE_CLASS_HEADER(PCLClusterStatistics);
  
  ML_PCL_TEST_INTERFACE(PCLClusterStatistics);
};
 
ML_END_NAMESPACE