Point Cloud Library (PCL) 1.15.0
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planar_polygon.h
1/*
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4 * Point Cloud Library (PCL) - www.pointclouds.org
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36 * $Id: planar_polygon.h 4696 2012-02-23 06:12:55Z rusu $
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38 */
39
40#pragma once
41
42#include <pcl/memory.h>
43#include <pcl/ModelCoefficients.h>
44#include <pcl/pcl_macros.h>
45#include <pcl/point_cloud.h>
46
47namespace pcl {
48/** \brief PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
49 * \author Alex Trevor
50 */
51template <typename PointT>
53public:
54 using Ptr = shared_ptr<PlanarPolygon<PointT>>;
55 using ConstPtr = shared_ptr<const PlanarPolygon<PointT>>;
56
57 /** \brief Empty constructor for PlanarPolygon */
59
60 /** \brief Constructor for PlanarPolygon
61 * \param[in] contour a vector of points bounding the polygon
62 * \param[in] coefficients a vector of the plane's coefficients (a,b,c,d)
63 */
65 Eigen::Vector4f& coefficients)
66 : contour_(contour), coefficients_(coefficients)
67 {}
68
69 /** \brief Destructor. */
70 virtual ~PlanarPolygon() = default;
71
72 /** \brief Set the internal contour
73 * \param[in] contour the new planar polygonal contour
74 */
75 void
77 {
78 contour_ = contour.points;
79 }
80
81 /** \brief Getter for the contour / boundary */
84 {
85 return (contour_);
86 }
87
88 /** \brief Getter for the contour / boundary */
90 getContour() const
91 {
92 return (contour_);
93 }
94
95 /** \brief Setr the internal coefficients
96 * \param[in] coefficients the new coefficients to be set
97 */
98 void
99 setCoefficients(const Eigen::Vector4f& coefficients)
100 {
101 coefficients_ = coefficients;
102 }
103
104 /** \brief Set the internal coefficients
105 * \param[in] coefficients the new coefficients to be set
106 */
107 void
109 {
110 for (int i = 0; i < 4; i++)
111 coefficients_[i] = coefficients.values.at(i);
112 }
113
114 /** \brief Getter for the coefficients */
115 Eigen::Vector4f&
117 {
118 return (coefficients_);
119 }
120
121 /** \brief Getter for the coefficients */
122 const Eigen::Vector4f&
124 {
125 return (coefficients_);
126 }
127
128protected:
129 /** \brief A list of points on the boundary/contour of the planar region. */
131
132 /** \brief A list of model coefficients (a,b,c,d). */
133 Eigen::Vector4f coefficients_;
134
135public:
137};
138} // namespace pcl
PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
void setCoefficients(const Eigen::Vector4f &coefficients)
Setr the internal coefficients.
Eigen::Vector4f & getCoefficients()
Getter for the coefficients.
shared_ptr< const PlanarPolygon< PointT > > ConstPtr
PlanarPolygon(typename pcl::PointCloud< PointT >::VectorType &contour, Eigen::Vector4f &coefficients)
Constructor for PlanarPolygon.
Eigen::Vector4f coefficients_
A list of model coefficients (a,b,c,d).
PlanarPolygon()
Empty constructor for PlanarPolygon.
pcl::PointCloud< PointT >::VectorType contour_
A list of points on the boundary/contour of the planar region.
const pcl::PointCloud< PointT >::VectorType & getContour() const
Getter for the contour / boundary.
pcl::PointCloud< PointT >::VectorType & getContour()
Getter for the contour / boundary.
virtual ~PlanarPolygon()=default
Destructor.
void setContour(const pcl::PointCloud< PointT > &contour)
Set the internal contour.
const Eigen::Vector4f & getCoefficients() const
Getter for the coefficients.
shared_ptr< PlanarPolygon< PointT > > Ptr
void setCoefficients(const pcl::ModelCoefficients &coefficients)
Set the internal coefficients.
PointCloud represents the base class in PCL for storing collections of 3D points.
std::vector< PointT, Eigen::aligned_allocator< PointT > > VectorType
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:86
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
std::vector< float > values