planar_region.h

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#pragma once
 
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/segmentation/region_3d.h>
#include <pcl/geometry/planar_polygon.h>
 
namespace pcl
{
  /** \brief PlanarRegion represents a set of points that lie in a plane.  Inherits summary statistics about these points from Region3D, and  summary statistics of a 3D collection of points.
    * \author Alex Trevor
    */
  template <typename PointT>
  class PlanarRegion : public pcl::Region3D<PointT>, public pcl::PlanarPolygon<PointT>
  {
    protected:
      using Region3D<PointT>::centroid_;
      using Region3D<PointT>::covariance_; 
      using Region3D<PointT>::count_;
      using PlanarPolygon<PointT>::contour_;
      using PlanarPolygon<PointT>::coefficients_;
 
    public:
      /** \brief Empty constructor for PlanarRegion. */
      PlanarRegion () = default;
 
      /** \brief Constructor for Planar region from a Region3D and a PlanarPolygon. 
        * \param[in] region a Region3D for the input data
        * \param[in] polygon a PlanarPolygon for the input region
        */
      PlanarRegion (const pcl::Region3D<PointT>& region, const pcl::PlanarPolygon<PointT>& polygon) 
      {
        centroid_ = region.centroid;
        covariance_ = region.covariance;
        count_ = region.count;
        contour_ = polygon.contour;
        coefficients_ = polygon.coefficients;
      }
      
      /** \brief Destructor. */
      ~PlanarRegion () override = default;
 
      /** \brief Constructor for PlanarRegion.
        * \param[in] centroid the centroid of the region.
        * \param[in] covariance the covariance of the region.
        * \param[in] count the number of points in the region.
        * \param[in] contour the contour / boundary for the region
        * \param[in] coefficients the model coefficients (a,b,c,d) for the plane
        */
      PlanarRegion (const Eigen::Vector3f& centroid, const Eigen::Matrix3f& covariance, unsigned count,
                    const typename pcl::PointCloud<PointT>::VectorType& contour,
                    const Eigen::Vector4f& coefficients) 
      {
        centroid_ = centroid;
        covariance_ = covariance;
        count_ = count;
        contour_ = contour;
        coefficients_ = coefficients;
      }
      
    private:
      /** \brief The labels (good=true, bad=false) for whether or not this boundary was observed, 
        * or was due to edge of frame / occlusion boundary. 
        */
      std::vector<bool> contour_labels_;
 
    public:
      PCL_MAKE_ALIGNED_OPERATOR_NEW
  };
}