40 #ifndef PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_
41 #define PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_
43 #include <pcl/segmentation/planar_region.h>
44 #include <pcl/pcl_base.h>
45 #include <pcl/common/angles.h>
46 #include <pcl/PointIndices.h>
47 #include <pcl/ModelCoefficients.h>
48 #include <pcl/segmentation/plane_coefficient_comparator.h>
49 #include <pcl/segmentation/plane_refinement_comparator.h>
61 template<
typename Po
intT,
typename Po
intNT,
typename Po
intLT>
224 segment (std::vector<ModelCoefficients>& model_coefficients,
225 std::vector<PointIndices>& inlier_indices,
226 std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
227 std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
229 std::vector<pcl::PointIndices>& label_indices);
236 segment (std::vector<ModelCoefficients>& model_coefficients,
237 std::vector<PointIndices>& inlier_indices);
262 std::vector<ModelCoefficients>& model_coefficients,
263 std::vector<PointIndices>& inlier_indices,
265 std::vector<pcl::PointIndices>& label_indices,
266 std::vector<pcl::PointIndices>& boundary_indices);
277 refine (std::vector<ModelCoefficients>& model_coefficients,
278 std::vector<PointIndices>& inlier_indices,
279 std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
280 std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
282 std::vector<pcl::PointIndices>& label_indices);
314 return (
"OrganizedMultiPlaneSegmentation");
320 #ifdef PCL_NO_PRECOMPILE
321 #include <pcl/segmentation/impl/organized_multi_plane_segmentation.hpp>
324 #endif //#ifndef PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_