planar_region.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Point Cloud Library (PCL) - www.pointclouds.org
00005  *  Copyright (c) 2010-2012, Willow Garage, Inc.
00006  *
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of the copyright holder(s) nor the names of its
00020  *     contributors may be used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034  *  POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  */
00037 
00038 #ifndef PCL_SEGMENTATION_PLANAR_REGION_H_
00039 #define PCL_SEGMENTATION_PLANAR_REGION_H_
00040 
00041 #include <pcl/segmentation/region_3d.h>
00042 #include <pcl/geometry/planar_polygon.h>
00043 
00044 namespace pcl
00045 {
00049   template <typename PointT>
00050   class PlanarRegion : public pcl::Region3D<PointT>, public pcl::PlanarPolygon<PointT>
00051   {
00052     protected:
00053       using Region3D<PointT>::centroid_;
00054       using Region3D<PointT>::covariance_; 
00055       using Region3D<PointT>::count_;
00056       using PlanarPolygon<PointT>::contour_;
00057       using PlanarPolygon<PointT>::coefficients_;
00058 
00059     public:
00061       PlanarRegion () : contour_labels_ ()
00062       {}
00063 
00068       PlanarRegion (const pcl::Region3D<PointT>& region, const pcl::PlanarPolygon<PointT>& polygon) :
00069         contour_labels_ ()
00070       {
00071         centroid_ = region.centroid;
00072         covariance_ = region.covariance;
00073         count_ = region.count;
00074         contour_ = polygon.contour;
00075         coefficients_ = polygon.coefficients;
00076       }
00077       
00079       virtual ~PlanarRegion () {}
00080 
00088       PlanarRegion (const Eigen::Vector3f& centroid, const Eigen::Matrix3f& covariance, unsigned count,
00089                     const typename pcl::PointCloud<PointT>::VectorType& contour,
00090                     const Eigen::Vector4f& coefficients) :
00091         contour_labels_ ()
00092       {
00093         centroid_ = centroid;
00094         covariance_ = covariance;
00095         count_ = count;
00096         contour_ = contour;
00097         coefficients_ = coefficients;
00098       }
00099       
00100     private:
00104       std::vector<bool> contour_labels_;
00105 
00106     public:
00107       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00108   };
00109 }
00110 
00111 #endif //PCL_SEGMENTATION_PLANAR_REGION_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:28:15