139 lines
4.2 KiB
C++
139 lines
4.2 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 Willow Garage, Inc. 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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* $Id: planar_polygon.h 4696 2012-02-23 06:12:55Z rusu $
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*
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*/
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#pragma once
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#include <pcl/ModelCoefficients.h>
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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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/** \brief PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
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* \author Alex Trevor
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*/
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template <typename PointT>
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class PlanarPolygon {
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public:
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using Ptr = shared_ptr<PlanarPolygon<PointT>>;
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using ConstPtr = shared_ptr<const PlanarPolygon<PointT>>;
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/** \brief Empty constructor for PlanarPolygon */
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PlanarPolygon() : contour_() {}
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/** \brief Constructor for PlanarPolygon
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* \param[in] contour a vector of points bounding the polygon
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* \param[in] coefficients a vector of the plane's coefficients (a,b,c,d)
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*/
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PlanarPolygon(typename pcl::PointCloud<PointT>::VectorType& contour,
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Eigen::Vector4f& coefficients)
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: contour_(contour), coefficients_(coefficients)
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{}
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/** \brief Destructor. */
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virtual ~PlanarPolygon() {}
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/** \brief Set the internal contour
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* \param[in] contour the new planar polygonal contour
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*/
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void
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setContour(const pcl::PointCloud<PointT>& contour)
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{
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contour_ = contour.points;
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}
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/** \brief Getter for the contour / boundary */
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typename pcl::PointCloud<PointT>::VectorType&
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getContour()
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{
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return (contour_);
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}
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/** \brief Getter for the contour / boundary */
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const typename pcl::PointCloud<PointT>::VectorType&
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getContour() const
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{
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return (contour_);
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}
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/** \brief Setr the internal coefficients
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* \param[in] coefficients the new coefficients to be set
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*/
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void
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setCoefficients(const Eigen::Vector4f& coefficients)
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{
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coefficients_ = coefficients;
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}
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/** \brief Set the internal coefficients
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* \param[in] coefficients the new coefficients to be set
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*/
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void
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setCoefficients(const pcl::ModelCoefficients& coefficients)
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{
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for (int i = 0; i < 4; i++)
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coefficients_[i] = coefficients.values.at(i);
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}
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/** \brief Getter for the coefficients */
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Eigen::Vector4f&
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getCoefficients()
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{
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return (coefficients_);
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}
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/** \brief Getter for the coefficients */
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const Eigen::Vector4f&
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getCoefficients() const
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{
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return (coefficients_);
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}
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protected:
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/** \brief A list of points on the boundary/contour of the planar region. */
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typename pcl::PointCloud<PointT>::VectorType contour_;
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/** \brief A list of model coefficients (a,b,c,d). */
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Eigen::Vector4f coefficients_;
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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} // namespace pcl
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