Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/geometry/include/pcl/geometry/planar_polygon.h
00001 /*
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00036  * $Id: planar_polygon.h 4696 2012-02-23 06:12:55Z rusu $
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00039 
00040 #ifndef PCL_GEOMETRY_PLANAR_POLYGON_H_
00041 #define PCL_GEOMETRY_PLANAR_POLYGON_H_
00042 
00043 
00044 #include <pcl/common/eigen.h>
00045 #include <pcl/point_cloud.h>
00046 #include <pcl/ModelCoefficients.h>
00047 
00048 namespace pcl
00049 {
00050   /** \brief PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
00051     * \author Alex Trevor 
00052     */
00053   template <typename PointT>
00054   class PlanarPolygon
00055   {
00056     public:
00057       typedef boost::shared_ptr<PlanarPolygon<PointT> > Ptr;
00058       typedef boost::shared_ptr<const PlanarPolygon<PointT> > ConstPtr;
00059 
00060        /** \brief Empty constructor for PlanarPolygon */
00061       PlanarPolygon () : contour_ (), coefficients_ ()
00062       {}
00063       
00064       /** \brief Constructor for PlanarPolygon
00065         * \param[in] contour a vector of points bounding the polygon
00066         * \param[in] coefficients a vector of the plane's coefficients (a,b,c,d)
00067         */
00068       PlanarPolygon (typename pcl::PointCloud<PointT>::VectorType &contour,
00069                      Eigen::Vector4f& coefficients) 
00070         : contour_ (contour), coefficients_ (coefficients)
00071       {}
00072       
00073       /** \brief Destructor. */
00074       virtual ~PlanarPolygon () {}
00075 
00076       /** \brief Set the internal contour
00077         * \param[in] contour the new planar polygonal contour
00078         */
00079       void
00080       setContour (const pcl::PointCloud<PointT> &contour)
00081       {
00082         contour_ = contour.points;
00083       }
00084 
00085       /** \brief Getter for the contour / boundary */
00086       typename pcl::PointCloud<PointT>::VectorType&
00087       getContour ()
00088       {
00089         return (contour_);
00090       }
00091       
00092       /** \brief Getter for the contour / boundary */
00093       const typename pcl::PointCloud<PointT>::VectorType&
00094       getContour () const
00095       {
00096         return (contour_);
00097       }
00098 
00099       /** \brief Setr the internal coefficients
00100         * \param[in] coefficients the new coefficients to be set 
00101         */
00102       void
00103       setCoefficients (const Eigen::Vector4f &coefficients)
00104       {
00105         coefficients_ = coefficients;
00106       }
00107 
00108       /** \brief Set the internal coefficients
00109         * \param[in] coefficients the new coefficients to be set 
00110         */
00111       void
00112       setCoefficients (const pcl::ModelCoefficients &coefficients)
00113       {
00114         for (int i = 0; i < 4; i++)
00115           coefficients_[i] = coefficients.values.at (i);
00116       }
00117 
00118       /** \brief Getter for the coefficients */
00119       Eigen::Vector4f&
00120       getCoefficients ()
00121       {
00122         return (coefficients_);
00123       }
00124 
00125       /** \brief Getter for the coefficients */
00126       const Eigen::Vector4f&
00127       getCoefficients () const
00128       {
00129         return (coefficients_);
00130       }
00131       
00132     protected:
00133       /** \brief A list of points on the boundary/contour of the planar region. */
00134       typename pcl::PointCloud<PointT>::VectorType contour_;
00135       
00136       /** \brief A list of model coefficients (a,b,c,d). */
00137       Eigen::Vector4f coefficients_;
00138     
00139     public:
00140       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00141   };
00142 }
00143 
00144 #endif  //#ifndef PCL_GEOMETRY_PLANAR_POLYGON_H_
00145