base_norm.hpp

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#pragma once
 
#include <cpp-toolbox/cpp-toolbox_export.hpp>
#include <cpp-toolbox/pcl/knn/base_knn.hpp>
#include <cpp-toolbox/types/point.hpp>
 
namespace toolbox::pcl
{
 
template<typename Derived, typename DataType, typename KNN>
class CPP_TOOLBOX_EXPORT base_norm_extractor_t
{
public:
  using data_type = DataType;
  using knn_type = KNN;
  using point_type = toolbox::types::point_t<data_type>;
  using point_cloud = toolbox::types::point_cloud_t<data_type>;
  using point_cloud_ptr =
      std::shared_ptr<toolbox::types::point_cloud_t<data_type>>;
 
  base_norm_extractor_t() = default;
  ~base_norm_extractor_t() = default;
 
  std::size_t set_input(const point_cloud& cloud)
  {
    return static_cast<Derived*>(this)->set_input_impl(cloud);
  }
 
  std::size_t set_input(const point_cloud_ptr& cloud)
  {
    return static_cast<Derived*>(this)->set_input_impl(cloud);
  }
 
  std::size_t set_num_neighbors(std::size_t num_neighbors)
  {
    m_num_neighbors = num_neighbors;
    return static_cast<Derived*>(this)->set_num_neighbors_impl(num_neighbors);
  }
 
  [[nodiscard]] std::size_t get_num_neighbors() const noexcept
  {
    return m_num_neighbors;
  }
 
  std::size_t set_knn(const knn_type& knn)
  {
    return static_cast<Derived*>(this)->set_knn_impl(knn);
  }
 
  point_cloud extract() { return static_cast<Derived*>(this)->extract_impl(); }
 
  void extract(point_cloud_ptr output)
  {
    return static_cast<Derived*>(this)->extract_impl(output);
  }
 
  base_norm_extractor_t(const base_norm_extractor_t&) = delete;
  base_norm_extractor_t& operator=(const base_norm_extractor_t&) = delete;
  base_norm_extractor_t(base_norm_extractor_t&&) = delete;
  base_norm_extractor_t& operator=(base_norm_extractor_t&&) = delete;
 
private:
  std::size_t m_num_neighbors = 0;  
};  // class base_norm_extractor_t
 
}  // namespace toolbox::pcl