Point Cloud Library (PCL) 1.14.0
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planar_region.h
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37
38#pragma once
39
40#include <pcl/memory.h>
41#include <pcl/pcl_macros.h>
42#include <pcl/segmentation/region_3d.h>
43#include <pcl/geometry/planar_polygon.h>
44
45namespace pcl
46{
47 /** \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.
48 * \author Alex Trevor
49 */
50 template <typename PointT>
51 class PlanarRegion : public pcl::Region3D<PointT>, public pcl::PlanarPolygon<PointT>
52 {
53 protected:
59
60 public:
61 /** \brief Empty constructor for PlanarRegion. */
62 PlanarRegion () = default;
63
64 /** \brief Constructor for Planar region from a Region3D and a PlanarPolygon.
65 * \param[in] region a Region3D for the input data
66 * \param[in] polygon a PlanarPolygon for the input region
67 */
69 {
70 centroid_ = region.centroid;
71 covariance_ = region.covariance;
72 count_ = region.count;
73 contour_ = polygon.contour;
74 coefficients_ = polygon.coefficients;
75 }
76
77 /** \brief Destructor. */
78 ~PlanarRegion () override = default;
79
80 /** \brief Constructor for PlanarRegion.
81 * \param[in] centroid the centroid of the region.
82 * \param[in] covariance the covariance of the region.
83 * \param[in] count the number of points in the region.
84 * \param[in] contour the contour / boundary for the region
85 * \param[in] coefficients the model coefficients (a,b,c,d) for the plane
86 */
87 PlanarRegion (const Eigen::Vector3f& centroid, const Eigen::Matrix3f& covariance, unsigned count,
88 const typename pcl::PointCloud<PointT>::VectorType& contour,
89 const Eigen::Vector4f& coefficients)
90 {
91 centroid_ = centroid;
92 covariance_ = covariance;
93 count_ = count;
94 contour_ = contour;
95 coefficients_ = coefficients;
96 }
97
98 private:
99 /** \brief The labels (good=true, bad=false) for whether or not this boundary was observed,
100 * or was due to edge of frame / occlusion boundary.
101 */
102 std::vector<bool> contour_labels_;
103
104 public:
106 };
107}
PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
Eigen::Vector4f coefficients_
A list of model coefficients (a,b,c,d).
pcl::PointCloud< PointT >::VectorType contour_
A list of points on the boundary/contour of the planar region.
PlanarRegion represents a set of points that lie in a plane.
PlanarRegion()=default
Empty constructor for PlanarRegion.
PlanarRegion(const pcl::Region3D< PointT > &region, const pcl::PlanarPolygon< PointT > &polygon)
Constructor for Planar region from a Region3D and a PlanarPolygon.
~PlanarRegion() override=default
Destructor.
PlanarRegion(const Eigen::Vector3f &centroid, const Eigen::Matrix3f &covariance, unsigned count, const typename pcl::PointCloud< PointT >::VectorType &contour, const Eigen::Vector4f &coefficients)
Constructor for PlanarRegion.
std::vector< PointT, Eigen::aligned_allocator< PointT > > VectorType
Region3D represents summary statistics of a 3D collection of points.
Definition region_3d.h:52
Eigen::Vector3f centroid_
The centroid of the region.
Definition region_3d.h:109
unsigned count_
The number of points in the region.
Definition region_3d.h:115
Eigen::Matrix3f covariance_
The covariance of the region.
Definition region_3d.h:112
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates, and the RGB color.