planar_polygon.h
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* $Id: planar_polygon.h 4696 2012-02-23 06:12:55Z rusu $
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#pragma once
#include <pcl/ModelCoefficients.h>
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
namespace pcl {
/** \brief PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
* \author Alex Trevor
*/
template <typename PointT>
class PlanarPolygon {
public:
using Ptr = shared_ptr<PlanarPolygon<PointT>>;
using ConstPtr = shared_ptr<const PlanarPolygon<PointT>>;
/** \brief Empty constructor for PlanarPolygon */
PlanarPolygon() : contour_() {}
/** \brief Constructor for PlanarPolygon
* \param[in] contour a vector of points bounding the polygon
* \param[in] coefficients a vector of the plane's coefficients (a,b,c,d)
*/
PlanarPolygon(typename pcl::PointCloud<PointT>::VectorType& contour,
Eigen::Vector4f& coefficients)
: contour_(contour), coefficients_(coefficients)
{}
/** \brief Destructor. */
virtual ~PlanarPolygon() {}
/** \brief Set the internal contour
* \param[in] contour the new planar polygonal contour
*/
void
setContour(const pcl::PointCloud<PointT>& contour)
{
contour_ = contour.points;
}
/** \brief Getter for the contour / boundary */
typename pcl::PointCloud<PointT>::VectorType&
getContour()
{
return (contour_);
}
/** \brief Getter for the contour / boundary */
const typename pcl::PointCloud<PointT>::VectorType&
getContour() const
{
return (contour_);
}
/** \brief Setr the internal coefficients
* \param[in] coefficients the new coefficients to be set
*/
void
setCoefficients(const Eigen::Vector4f& coefficients)
{
coefficients_ = coefficients;
}
/** \brief Set the internal coefficients
* \param[in] coefficients the new coefficients to be set
*/
void
setCoefficients(const pcl::ModelCoefficients& coefficients)
{
for (int i = 0; i < 4; i++)
coefficients_[i] = coefficients.values.at(i);
}
/** \brief Getter for the coefficients */
Eigen::Vector4f&
getCoefficients()
{
return (coefficients_);
}
/** \brief Getter for the coefficients */
const Eigen::Vector4f&
getCoefficients() const
{
return (coefficients_);
}
protected:
/** \brief A list of points on the boundary/contour of the planar region. */
typename pcl::PointCloud<PointT>::VectorType contour_;
/** \brief A list of model coefficients (a,b,c,d). */
Eigen::Vector4f coefficients_;
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace pcl
pcl::PlanarPolygon
PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
Definition: planar_polygon.h:52
pcl::PlanarPolygon::setCoefficients
void setCoefficients(const Eigen::Vector4f &coefficients)
Setr the internal coefficients.
Definition: planar_polygon.h:99
pcl::PlanarPolygon::~PlanarPolygon
virtual ~PlanarPolygon()
Destructor.
Definition: planar_polygon.h:70
pcl::PlanarPolygon::ConstPtr
shared_ptr< const PlanarPolygon< PointT > > ConstPtr
Definition: planar_polygon.h:55
pcl::PlanarPolygon::getCoefficients
Eigen::Vector4f & getCoefficients()
Getter for the coefficients.
Definition: planar_polygon.h:116
pcl::PlanarPolygon::getContour
const pcl::PointCloud< PointT >::VectorType & getContour() const
Getter for the contour / boundary.
Definition: planar_polygon.h:90
pcl::PlanarPolygon::PlanarPolygon
PlanarPolygon(typename pcl::PointCloud< PointT >::VectorType &contour, Eigen::Vector4f &coefficients)
Constructor for PlanarPolygon.
Definition: planar_polygon.h:64
pcl::PlanarPolygon::coefficients_
Eigen::Vector4f coefficients_
A list of model coefficients (a,b,c,d).
Definition: planar_polygon.h:133
pcl::PlanarPolygon::PlanarPolygon
PlanarPolygon()
Empty constructor for PlanarPolygon.
Definition: planar_polygon.h:58
pcl::PlanarPolygon::contour_
pcl::PointCloud< PointT >::VectorType contour_
A list of points on the boundary/contour of the planar region.
Definition: planar_polygon.h:130
pcl::PlanarPolygon::getContour
pcl::PointCloud< PointT >::VectorType & getContour()
Getter for the contour / boundary.
Definition: planar_polygon.h:83
pcl::PlanarPolygon::setContour
void setContour(const pcl::PointCloud< PointT > &contour)
Set the internal contour.
Definition: planar_polygon.h:76
pcl::PlanarPolygon::getCoefficients
const Eigen::Vector4f & getCoefficients() const
Getter for the coefficients.
Definition: planar_polygon.h:123
pcl::PlanarPolygon::Ptr
shared_ptr< PlanarPolygon< PointT > > Ptr
Definition: planar_polygon.h:54
pcl::PlanarPolygon::setCoefficients
void setCoefficients(const pcl::ModelCoefficients &coefficients)
Set the internal coefficients.
Definition: planar_polygon.h:108
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
pcl::PointCloud::VectorType
std::vector< PointT, Eigen::aligned_allocator< PointT > > VectorType
Definition: point_cloud.h:411
pcl::PointCloud::points
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
Definition: point_cloud.h:395
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.
pcl::ModelCoefficients
Definition: ModelCoefficients.h:12
pcl::ModelCoefficients::values
std::vector< float > values
Definition: ModelCoefficients.h:19