109 lines
4.2 KiB
C
109 lines
4.2 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/segmentation/region_3d.h>
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#include <pcl/geometry/planar_polygon.h>
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namespace pcl
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{
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/** \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.
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* \author Alex Trevor
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*/
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template <typename PointT>
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class PlanarRegion : public pcl::Region3D<PointT>, public pcl::PlanarPolygon<PointT>
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{
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protected:
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using Region3D<PointT>::centroid_;
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using Region3D<PointT>::covariance_;
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using Region3D<PointT>::count_;
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using PlanarPolygon<PointT>::contour_;
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using PlanarPolygon<PointT>::coefficients_;
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public:
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/** \brief Empty constructor for PlanarRegion. */
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PlanarRegion ()
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{}
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/** \brief Constructor for Planar region from a Region3D and a PlanarPolygon.
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* \param[in] region a Region3D for the input data
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* \param[in] polygon a PlanarPolygon for the input region
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*/
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PlanarRegion (const pcl::Region3D<PointT>& region, const pcl::PlanarPolygon<PointT>& polygon)
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{
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centroid_ = region.centroid;
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covariance_ = region.covariance;
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count_ = region.count;
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contour_ = polygon.contour;
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coefficients_ = polygon.coefficients;
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}
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/** \brief Destructor. */
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~PlanarRegion () {}
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/** \brief Constructor for PlanarRegion.
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* \param[in] centroid the centroid of the region.
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* \param[in] covariance the covariance of the region.
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* \param[in] count the number of points in the region.
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* \param[in] contour the contour / boudnary for the region
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* \param[in] coefficients the model coefficients (a,b,c,d) for the plane
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*/
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PlanarRegion (const Eigen::Vector3f& centroid, const Eigen::Matrix3f& covariance, unsigned count,
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const typename pcl::PointCloud<PointT>::VectorType& contour,
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const Eigen::Vector4f& coefficients)
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{
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centroid_ = centroid;
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covariance_ = covariance;
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count_ = count;
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contour_ = contour;
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coefficients_ = coefficients;
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}
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private:
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/** \brief The labels (good=true, bad=false) for whether or not this boundary was observed,
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* or was due to edge of frame / occlusion boundary.
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*/
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std::vector<bool> contour_labels_;
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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