mlPCLEuclideanClusterExtraction.h

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// Copyright (c) Fraunhofer MEVIS, Germany. All rights reserved.
// **InsertLicense** code author="Wolf Spindler"
//----------------------------------------------------------------------------------
 
//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLSegmentationSystem.h"
#include <mlPCLModule.h>
 
ML_START_NAMESPACE
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCL_Segmentation_EXPORT PCLEuclideanClusterExtraction : public PCLModule
{
public:
  PCLEuclideanClusterExtraction();
 
protected:
  void activateAttachments() override;
 
  void handleNotification (Field* field) override;
 
private:
  void _resetResultValues();
 
  void _clampValues();
  
  void _filter();
 
  template <typename POINT_CLOUD_TYPE> 
    typename POINT_CLOUD_TYPE::Ptr _getScaledCloud(const POINT_CLOUD_TYPE &inCloud,
                                                   const Vector3 &preScale);
 
  template <typename POINT_CLOUD_TYPE> 
    void _filterT(const POINT_CLOUD_TYPE &inputPointCloud);
 
  DoubleField *_clusterToleranceFld;
  
  IntField *_clusterMinSizeFld;
  
  IntField *_clusterMaxSizeFld;
  
  Vector3Field *_preScaleFld;
  
  Vector3Field *_clusterMinExtentsFld;
  
  BoolField *_passOnlyClusterPointsFld;
  
  BoolField *_startClusterCountingAtOneFld;
  
  IntField *_numFoundClustersFld;
  
  ML_MODULE_CLASS_HEADER(PCLEuclideanClusterExtraction);
  
  ML_PCL_TEST_INTERFACE(PCLEuclideanClusterExtraction);
};
 
ML_END_NAMESPACE