Point Cloud Library (PCL)  1.14.1-dev
comparator.h
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39 
40 #pragma once
41 
42 #include <pcl/memory.h>
43 #include <pcl/pcl_macros.h>
44 #include <pcl/point_cloud.h>
45 
46 namespace pcl
47 {
48  /** \brief Comparator is the base class for comparators that compare two points given some function.
49  * Currently intended for use with OrganizedConnectedComponentSegmentation
50  *
51  * \author Alex Trevor
52  */
53  template <typename PointT>
54  class Comparator
55  {
56  public:
58  using PointCloudPtr = typename PointCloud::Ptr;
60 
61  using Ptr = shared_ptr<Comparator<PointT> >;
62  using ConstPtr = shared_ptr<const Comparator<PointT> >;
63 
64  /** \brief Empty constructor for comparator. */
66  {
67  }
68 
69  /** \brief Empty destructor for comparator. */
70  virtual
71  ~Comparator () = default;
72 
73  /** \brief Set the input cloud for the comparator.
74  * \param[in] cloud the point cloud this comparator will operate on
75  */
76  virtual void
78  {
79  input_ = cloud;
80  }
81 
82  /** \brief Get the input cloud this comparator operates on. */
83  virtual PointCloudConstPtr
84  getInputCloud () const
85  {
86  return (input_);
87  }
88 
89  /** \brief Compares the two points in the input cloud designated by these two indices.
90  * This is pure virtual and must be implemented by subclasses with some comparison function.
91  * \param[in] idx1 the index of the first point.
92  * \param[in] idx2 the index of the second point.
93  */
94  virtual bool
95  compare (int idx1, int idx2) const = 0;
96 
97  protected:
99  public:
101  };
102 }
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:55
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud for the comparator.
Definition: comparator.h:77
PointCloudConstPtr input_
Definition: comparator.h:98
shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:61
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:59
shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:62
virtual bool compare(int idx1, int idx2) const =0
Compares the two points in the input cloud designated by these two indices.
virtual ~Comparator()=default
Empty destructor for comparator.
virtual PointCloudConstPtr getInputCloud() const
Get the input cloud this comparator operates on.
Definition: comparator.h:84
typename PointCloud::Ptr PointCloudPtr
Definition: comparator.h:58
Comparator()
Empty constructor for comparator.
Definition: comparator.h:65
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
#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.