105 lines
3.5 KiB
C++
105 lines
3.5 KiB
C++
/*
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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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*
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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/point_cloud.h>
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namespace pcl
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{
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/** \brief Comparator is the base class for comparators that compare two points given some function.
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* Currently intended for use with OrganizedConnectedComponentSegmentation
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*
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* \author Alex Trevor
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*/
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template <typename PointT>
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class Comparator
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{
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public:
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using PointCloud = pcl::PointCloud<PointT>;
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using PointCloudPtr = typename PointCloud::Ptr;
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using PointCloudConstPtr = typename PointCloud::ConstPtr;
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using Ptr = shared_ptr<Comparator<PointT> >;
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using ConstPtr = shared_ptr<const Comparator<PointT> >;
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/** \brief Empty constructor for comparator. */
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Comparator () : input_ ()
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{
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}
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/** \brief Empty destructor for comparator. */
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virtual
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~Comparator ()
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{
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}
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/** \brief Set the input cloud for the comparator.
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* \param[in] cloud the point cloud this comparator will operate on
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*/
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virtual void
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setInputCloud (const PointCloudConstPtr& cloud)
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{
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input_ = cloud;
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}
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/** \brief Get the input cloud this comparator operates on. */
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virtual PointCloudConstPtr
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getInputCloud () const
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{
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return (input_);
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}
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/** \brief Compares the two points in the input cloud designated by these two indices.
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* This is pure virtual and must be implemented by subclasses with some comparison function.
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* \param[in] idx1 the index of the first point.
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* \param[in] idx2 the index of the second point.
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*/
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virtual bool
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compare (int idx1, int idx2) const = 0;
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protected:
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PointCloudConstPtr input_;
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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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