Point Cloud Library (PCL) 1.15.0
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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
44namespace 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
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.