88 lines
3.1 KiB
C++
88 lines
3.1 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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#pragma once
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#include <Eigen/Core>
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#include <vector>
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#include <pcl/segmentation/planar_region.h>
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namespace pcl
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{
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/** \brief PlanarPolygonFusion takes a list of 2D planar polygons and
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* attempts to reduce them to a minimum set that best represents the scene,
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* based on various given comparators.
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*/
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template <typename PointT>
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class PlanarPolygonFusion
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{
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public:
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/** \brief Constructor */
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PlanarPolygonFusion () : regions_ () {}
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/** \brief Destructor */
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virtual ~PlanarPolygonFusion () {}
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/** \brief Reset the state (clean the list of planar models). */
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void
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reset ()
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{
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regions_.clear ();
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}
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/** \brief Set the list of 2D planar polygons to refine.
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* \param[in] input the list of 2D planar polygons to refine
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*/
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void
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addInputPolygons (const std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > > &input)
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{
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int start = static_cast<int> (regions_.size ());
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regions_.resize (regions_.size () + input.size ());
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for(std::size_t i = 0; i < input.size (); i++)
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regions_[start+i] = input[i];
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}
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protected:
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/** \brief Internal list of planar states. */
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std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > regions_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/segmentation/impl/planar_polygon_fusion.hpp>
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#endif
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