40 #ifndef PCL_GEOMETRY_PLANAR_POLYGON_H_
41 #define PCL_GEOMETRY_PLANAR_POLYGON_H_
44 #include <pcl/common/eigen.h>
45 #include <pcl/point_cloud.h>
46 #include <pcl/ModelCoefficients.h>
53 template <
typename Po
intT>
57 typedef boost::shared_ptr<PlanarPolygon<PointT> >
Ptr;
58 typedef boost::shared_ptr<const PlanarPolygon<PointT> >
ConstPtr;
69 Eigen::Vector4f& coefficients)
114 for (
int i = 0; i < 4; i++)
126 const Eigen::Vector4f&
140 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
144 #endif //#ifndef PCL_GEOMETRY_PLANAR_POLYGON_H_
virtual ~PlanarPolygon()
Destructor.
void setCoefficients(const pcl::ModelCoefficients &coefficients)
Set the internal coefficients.
PlanarPolygon()
Empty constructor for PlanarPolygon.
const pcl::PointCloud< PointT >::VectorType & getContour() const
Getter for the contour / boundary.
pcl::PointCloud< PointT >::VectorType & getContour()
Getter for the contour / boundary.
std::vector< float > values
void setCoefficients(const Eigen::Vector4f &coefficients)
Setr the internal coefficients.
const Eigen::Vector4f & getCoefficients() const
Getter for the coefficients.
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
std::vector< PointT, Eigen::aligned_allocator< PointT > > VectorType
pcl::PointCloud< PointT >::VectorType contour_
A list of points on the boundary/contour of the planar region.
PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.
Eigen::Vector4f & getCoefficients()
Getter for the coefficients.
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).
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< PlanarPolygon< PointT > > Ptr
boost::shared_ptr< const PlanarPolygon< PointT > > ConstPtr
void setContour(const pcl::PointCloud< PointT > &contour)
Set the internal contour.