Point Cloud Library (PCL)  1.12.1-dev
comparator.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2012, Willow Garage, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of the copyright holder(s) nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  *
37  *
38  */
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:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.