planar_polygon_fusion.h
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#ifndef PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_
#define PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_
#include <Eigen/Core>
#include <vector>
#include <pcl/segmentation/planar_region.h>
namespace pcl
{
/** \brief PlanarPolygonFusion takes a list of 2D planar polygons and
* attempts to reduce them to a minimum set that best represents the scene,
* based on various given comparators.
*/
template <typename PointT>
class PlanarPolygonFusion
{
public:
/** \brief Constructor */
PlanarPolygonFusion () : regions_ () {}
/** \brief Destructor */
virtual ~PlanarPolygonFusion () {}
/** \brief Reset the state (clean the list of planar models). */
void
reset ()
{
regions_.clear ();
}
/** \brief Set the list of 2D planar polygons to refine.
* \param[in] input the list of 2D planar polygons to refine
*/
void
addInputPolygons (const std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > > &input)
{
int start = static_cast<int> (regions_.size ());
regions_.resize (regions_.size () + input.size ());
for(size_t i = 0; i < input.size (); i++)
regions_[start+i] = input[i];
}
protected:
/** \brief Internal list of planar states. */
std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > regions_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/segmentation/impl/planar_polygon_fusion.hpp>
#endif
#endif // PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_
pcl::PlanarPolygonFusion::reset
void reset()
Reset the state (clean the list of planar models).
Definition: planar_polygon_fusion.h:63
pcl
Definition: convolution.h:45
pcl::PlanarPolygonFusion::regions_
std::vector< pcl::PlanarRegion< PointT >, Eigen::aligned_allocator< pcl::PlanarRegion< PointT > > > regions_
Internal list of planar states.
Definition: planar_polygon_fusion.h:82
pcl::PlanarPolygonFusion
PlanarPolygonFusion takes a list of 2D planar polygons and attempts to reduce them to a minimum set t...
Definition: planar_polygon_fusion.h:52
pcl::PlanarPolygonFusion::PlanarPolygonFusion
PlanarPolygonFusion()
Constructor.
Definition: planar_polygon_fusion.h:56
pcl::PlanarPolygonFusion::addInputPolygons
void addInputPolygons(const std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &input)
Set the list of 2D planar polygons to refine.
Definition: planar_polygon_fusion.h:72
pcl::PlanarPolygonFusion::~PlanarPolygonFusion
virtual ~PlanarPolygonFusion()
Destructor.
Definition: planar_polygon_fusion.h:59
pcl::PlanarRegion
PlanarRegion represents a set of points that lie in a plane.
Definition: planar_region.h:50