Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/segmentation/include/pcl/segmentation/planar_region.h
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00037 
00038 #ifndef PCL_SEGMENTATION_PLANAR_REGION_H_
00039 #define PCL_SEGMENTATION_PLANAR_REGION_H_
00040 
00041 #include <pcl/segmentation/region_3d.h>
00042 #include <pcl/geometry/planar_polygon.h>
00043 
00044 namespace pcl
00045 {
00046   /** \brief PlanarRegion represents a set of points that lie in a plane.  Inherits summary statistics about these points from Region3D, and  summary statistics of a 3D collection of points.
00047     * \author Alex Trevor
00048     */
00049   template <typename PointT>
00050   class PlanarRegion : public pcl::Region3D<PointT>, public pcl::PlanarPolygon<PointT>
00051   {
00052     protected:
00053       using Region3D<PointT>::centroid_;
00054       using Region3D<PointT>::covariance_; 
00055       using Region3D<PointT>::count_;
00056       using PlanarPolygon<PointT>::contour_;
00057       using PlanarPolygon<PointT>::coefficients_;
00058 
00059     public:
00060       /** \brief Empty constructor for PlanarRegion. */
00061       PlanarRegion () : contour_labels_ ()
00062       {}
00063 
00064       /** \brief Constructor for Planar region from a Region3D and a PlanarPolygon. 
00065         * \param[in] region a Region3D for the input data
00066         * \param[in] polygon a PlanarPolygon for the input region
00067         */
00068       PlanarRegion (const pcl::Region3D<PointT>& region, const pcl::PlanarPolygon<PointT>& polygon) :
00069         contour_labels_ ()
00070       {
00071         centroid_ = region.centroid;
00072         covariance_ = region.covariance;
00073         count_ = region.count;
00074         contour_ = polygon.contour;
00075         coefficients_ = polygon.coefficients;
00076       }
00077       
00078       /** \brief Destructor. */
00079       virtual ~PlanarRegion () {}
00080 
00081       /** \brief Constructor for PlanarRegion.
00082         * \param[in] centroid the centroid of the region.
00083         * \param[in] covariance the covariance of the region.
00084         * \param[in] count the number of points in the region.
00085         * \param[in] contour the contour / boudnary for the region
00086         * \param[in] coefficients the model coefficients (a,b,c,d) for the plane
00087         */
00088       PlanarRegion (const Eigen::Vector3f& centroid, const Eigen::Matrix3f& covariance, unsigned count,
00089                     const typename pcl::PointCloud<PointT>::VectorType& contour,
00090                     const Eigen::Vector4f& coefficients) :
00091         contour_labels_ ()
00092       {
00093         centroid_ = centroid;
00094         covariance_ = covariance;
00095         count_ = count;
00096         contour_ = contour;
00097         coefficients_ = coefficients;
00098       }
00099       
00100     private:
00101       /** \brief The labels (good=true, bad=false) for whether or not this boundary was observed, 
00102         * or was due to edge of frame / occlusion boundary. 
00103         */
00104       std::vector<bool> contour_labels_;
00105 
00106     public:
00107       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00108   };
00109 }
00110 
00111 #endif //PCL_SEGMENTATION_PLANAR_REGION_H_