mlPCLInfo.h

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// Copyright (c) Fraunhofer MEVIS, Germany. All rights reserved.
// **InsertLicense** code author="Wolf Spindler"
//----------------------------------------------------------------------------------
 
//----------------------------------------------------------------------------------
#pragma once
 
#include "MLPCLSupportSystem.h"
#include <mlPCLBaseObject.h>
#include <mlPCLModule.h>
 
ML_START_NAMESPACE
 
//----------------------------------------------------------------------------------
//----------------------------------------------------------------------------------
class MLPCLSUPPORT_EXPORT PCLInfo : public PCLModule
{
public:
  PCLInfo();
 
protected:
  void activateAttachments() override;
 
  void handleNotification (Field* field) override;
 
private:
  void _resetOutputFields();
 
  void _updateFieldStates();
 
  void _updateHeaderFieldState(const pcl::PCLHeader &header);
 
  void _updateWidthHeightIsDenseFieldState(MLuint32 width, 
                                           MLuint32 height, 
                                           bool     isDense);
 
  void _updateFieldStates(const MLPolygonMesh &inputPolygonMesh);
 
  void _updateIndexFieldStates();
 
  template <typename POINT_CLOUD_TYPE> void _updateFieldStatesT(const POINT_CLOUD_TYPE &inputPointCloud);
 
  StringField *_pclObjectTypeFld;
 
  IntField    *_numberOfPointsFld;
 
  IntField    *_widthFld;
 
  IntField    *_heightFld;
 
  IntField    *_seqFld;
 
  IntField    *_stampFld;
 
  StringField *_frameIdFld;
  
  BoolField   *_isOrganizedFld;
  
  BoolField   *_isDenseFld;
  
  Vector4Field*_sensorOriginFld;
  
  Vector4Field*_sensorOrientationFld;
  
  Vector3Field*_boundingBoxV1Fld;
  Vector3Field*_boundingBoxV2Fld;
  
  DoubleField *_minimumFld;
 
  DoubleField *_maximumFld;
 
  DoubleField *_averageFld;
 
  DoubleField *_sumFld;
 
  DoubleField *_sumAbsoluteFld;
 
  DoubleField *_medianFld;
 
  IntField    *_indexOfFirstPointFld;
 
  IntField    *_maxNumShownPointsFld;
 
  BoolField   *_showPointIndicesFld;
 
  IntField    *_numDecimalPlacesFld;
 
  StringField *_pointsPrintFormatFld;
  
  // PointCloud2 members:
  IntField    *_isBigEndianFld;
  
  StringField *_fieldsFld;
  
  IntField    *_pointStepFld;
 
  IntField    *_rowStepFld;
 
  IntField    *_indexOfFirstVertexFld;
 
  IntField    *_maxNumShownVertexFld;
 
  BoolField   *_showVertexIndicesFld;
 
  IntField    *_numberOfVerticesFld;
 
  StringField *_verticesFld;
  
  // End of PointCloud2 members.
 
  // Indices related fields.
  IntField    *_indexOfFirstIndexFld;
 
  IntField    *_maxNumShownIndexFld;
 
  BoolField   *_showIndexIndicesFld;
 
  IntField    *_numberOfIndicesFld;
 
  StringField *_indicesFld;
 
  
  StringField *_pointStructureFld;
  
  StringField *_pointsFld;
  
  IntField    *_pointSliderStartMaximumFld;
  
  IntField    *_vertexSliderStartMaximumFld;
  
  IntField    *_indexSliderStartMaximumFld;
  
  ML_MODULE_CLASS_HEADER(PCLInfo);
  
  ML_PCL_TEST_INTERFACE(PCLInfo);
};
 
ML_END_NAMESPACE