PCLFunctions.h

#pragma once
#include "DLLInfo.h"
#include <NDEVR/GeometryRegistration.h>
#include <NDEVR/BaseValues.h>
#include <NDEVR/RGBColor.h>
#include <pcl/common/transforms.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
using namespace pcl;
typedef PointNormal PointT;
typedef PointCloud<PointT> Cloud;
typedef Cloud::Ptr CloudPtr;
typedef Cloud::ConstPtr CloudConstPtr;
namespace NDEVR
{
    template<uint01 t_dim, class t_type>
    class RTree;
 
    class InfoPipe;
    class Geometry;
    class GeometryPositionModRestore;
    class PCLFunctions
    {
    public:
        static Eigen::Matrix4f ConvertMatrix(const Matrix<fltp04>& transform);
        static Eigen::Matrix4d ConvertMatrix(const Matrix<fltp08>& transform);
        static Matrix<fltp08> ConvertMatrix(const Eigen::Matrix4d& transform);
        static Matrix<fltp04> ConvertMatrix(const Eigen::Matrix4f& transform);
        static pcl::PointCloud<pcl::PointNormal>::Ptr Convert(const Buffer<Vertex<3, fltp04>>& vertices, const Buffer<Ray<3, fltp04>>& normals, const Buffer<bool>& filtered = Buffer<bool>());
        static pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr Convert(const Buffer<Vertex<3, fltp04>>& vertices, const Buffer<RGBColor>& colors, const Buffer<Ray<3, fltp04>>& normals);
        static pcl::PointCloud<pcl::PointXYZ>::Ptr Convert(const Buffer<Vertex<3, fltp04>>& vertices, const Buffer<bool>& filtered = Buffer<bool>());
        static pcl::PointCloud<pcl::PointNormal>::Ptr CalculateNormalCloud(const Buffer<Vertex<3, fltp04>>& vertices, const Buffer<Vertex<3, fltp04>>& tree_sorted_vertices, uint04 mean_k, fltp04 distance, const RTree<3, fltp04>& tree, const Vertex<3, fltp04>& center);
        static Buffer<Ray<3, fltp04>> CalculateNormals(const Buffer<Vertex<3, fltp04>>& vertices, const Buffer<Vertex<3, fltp04>>& tree_sorted_vertices, uint04 mean_k, fltp04 distance, const RTree<3, fltp04>& tree, LogPtr log = nullptr, const void* lock_ptr = nullptr);
        struct KeyPointArgs
        {
            Buffer<Vertex<3, fltp04>>* positions;
            Buffer<Vertex<3, fltp04>>* normals;
            Buffer<RGBColor>* colors;
            Buffer<Vertex<3, fltp04>>* tree_sorted_vertices;
 
            Buffer<Vertex<3, fltp04>> keypoints;
            uint04 mean_k;
            RTree<3, fltp04>* tree;
            LogPtr log;
            const void* lock_ptr;
        };
        static void CalculateKeypoints(KeyPointArgs& args);
    };
}