comparator.h
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#pragma once
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
namespace pcl
{
/** \brief Comparator is the base class for comparators that compare two points given some function.
* Currently intended for use with OrganizedConnectedComponentSegmentation
*
* \author Alex Trevor
*/
template <typename PointT>
class Comparator
{
public:
using PointCloud = pcl::PointCloud<PointT>;
using PointCloudPtr = typename PointCloud::Ptr;
using PointCloudConstPtr = typename PointCloud::ConstPtr;
using Ptr = shared_ptr<Comparator<PointT> >;
using ConstPtr = shared_ptr<const Comparator<PointT> >;
/** \brief Empty constructor for comparator. */
Comparator () : input_ ()
{
}
/** \brief Empty destructor for comparator. */
virtual
~Comparator ()
{
}
/** \brief Set the input cloud for the comparator.
* \param[in] cloud the point cloud this comparator will operate on
*/
virtual void
setInputCloud (const PointCloudConstPtr& cloud)
{
input_ = cloud;
}
/** \brief Get the input cloud this comparator operates on. */
virtual PointCloudConstPtr
getInputCloud () const
{
return (input_);
}
/** \brief Compares the two points in the input cloud designated by these two indices.
* This is pure virtual and must be implemented by subclasses with some comparison function.
* \param[in] idx1 the index of the first point.
* \param[in] idx2 the index of the second point.
*/
virtual bool
compare (int idx1, int idx2) const = 0;
protected:
PointCloudConstPtr input_;
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
}
pcl::Comparator
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:55
pcl::Comparator::setInputCloud
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud for the comparator.
Definition: comparator.h:79
pcl::Comparator::input_
PointCloudConstPtr input_
Definition: comparator.h:100
pcl::Comparator::Ptr
shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:61
pcl::Comparator::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:59
pcl::Comparator::ConstPtr
shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:62
pcl::Comparator::compare
virtual bool compare(int idx1, int idx2) const =0
Compares the two points in the input cloud designated by these two indices.
pcl::Comparator::~Comparator
virtual ~Comparator()
Empty destructor for comparator.
Definition: comparator.h:71
pcl::Comparator::getInputCloud
virtual PointCloudConstPtr getInputCloud() const
Get the input cloud this comparator operates on.
Definition: comparator.h:86
pcl::Comparator::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: comparator.h:58
pcl::Comparator::Comparator
Comparator()
Empty constructor for comparator.
Definition: comparator.h:65
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl
Definition: convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.