Point Cloud Library (PCL)  1.13.0-dev
planar_polygon_fusion.h
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37 
38 #pragma once
39 
40 #include <Eigen/Core>
41 #include <vector>
42 #include <pcl/segmentation/planar_region.h>
43 
44 namespace pcl
45 {
46  /** \brief PlanarPolygonFusion takes a list of 2D planar polygons and
47  * attempts to reduce them to a minimum set that best represents the scene,
48  * based on various given comparators.
49  */
50  template <typename PointT>
52  {
53  public:
54  /** \brief Constructor */
56 
57  /** \brief Destructor */
58  virtual ~PlanarPolygonFusion () = default;
59 
60  /** \brief Reset the state (clean the list of planar models). */
61  void
62  reset ()
63  {
64  regions_.clear ();
65  }
66 
67  /** \brief Set the list of 2D planar polygons to refine.
68  * \param[in] input the list of 2D planar polygons to refine
69  */
70  void
71  addInputPolygons (const std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > > &input)
72  {
73  int start = static_cast<int> (regions_.size ());
74  regions_.resize (regions_.size () + input.size ());
75  for(std::size_t i = 0; i < input.size (); i++)
76  regions_[start+i] = input[i];
77  }
78 
79  protected:
80  /** \brief Internal list of planar states. */
81  std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > regions_;
82  };
83 }
84 
85 #ifdef PCL_NO_PRECOMPILE
86 #include <pcl/segmentation/impl/planar_polygon_fusion.hpp>
87 #endif
PlanarPolygonFusion takes a list of 2D planar polygons and attempts to reduce them to a minimum set t...
virtual ~PlanarPolygonFusion()=default
Destructor.
void reset()
Reset the state (clean the list of planar models).
std::vector< pcl::PlanarRegion< PointT >, Eigen::aligned_allocator< pcl::PlanarRegion< PointT > > > regions_
Internal list of planar states.
void addInputPolygons(const std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &input)
Set the list of 2D planar polygons to refine.
PlanarRegion represents a set of points that lie in a plane.
Definition: planar_region.h:52