Point Cloud Library (PCL)  1.7.1
planar_polygon_fusion.h
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37 
38 #ifndef PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_
39 #define PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_
40 
41 #include <Eigen/Core>
42 #include <vector>
43 #include <pcl/segmentation/planar_region.h>
44 
45 namespace pcl
46 {
47  /** \brief PlanarPolygonFusion takes a list of 2D planar polygons and
48  * attempts to reduce them to a minimum set that best represents the scene,
49  * based on various given comparators.
50  */
51  template <typename PointT>
53  {
54  public:
55  /** \brief Constructor */
57 
58  /** \brief Destructor */
59  virtual ~PlanarPolygonFusion () {}
60 
61  /** \brief Reset the state (clean the list of planar models). */
62  void
63  reset ()
64  {
65  regions_.clear ();
66  }
67 
68  /** \brief Set the list of 2D planar polygons to refine.
69  * \param[in] input the list of 2D planar polygons to refine
70  */
71  void
72  addInputPolygons (const std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > > &input)
73  {
74  int start = static_cast<int> (regions_.size ());
75  regions_.resize (regions_.size () + input.size ());
76  for(size_t i = 0; i < input.size (); i++)
77  regions_[start+i] = input[i];
78  }
79 
80  protected:
81  /** \brief Internal list of planar states. */
82  std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > regions_;
83  };
84 }
85 
86 #ifdef PCL_NO_PRECOMPILE
87 #include <pcl/segmentation/impl/planar_polygon_fusion.hpp>
88 #endif
89 
90 #endif // PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_
virtual ~PlanarPolygonFusion()
Destructor.
void addInputPolygons(const std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &input)
Set the list of 2D planar polygons to refine.
void reset()
Reset the state (clean the list of planar models).
std::vector< pcl::PlanarRegion< PointT >, Eigen::aligned_allocator< pcl::PlanarRegion< PointT > > > regions_
Internal list of planar states.
PlanarRegion represents a set of points that lie in a plane.
Definition: planar_region.h:50
PlanarPolygonFusion takes a list of 2D planar polygons and attempts to reduce them to a minimum set t...