38 #ifndef PCL_SEGMENTATION_PLANAR_REGION_H_
39 #define PCL_SEGMENTATION_PLANAR_REGION_H_
41 #include <pcl/segmentation/region_3d.h>
42 #include <pcl/geometry/planar_polygon.h>
49 template <
typename Po
intT>
88 PlanarRegion (
const Eigen::Vector3f& centroid,
const Eigen::Matrix3f& covariance,
unsigned count,
90 const Eigen::Vector4f& coefficients) :
104 std::vector<bool> contour_labels_;
107 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
111 #endif //PCL_SEGMENTATION_PLANAR_REGION_H_
Eigen::Vector3f centroid_
The centroid of the region.
std::vector< PointT, Eigen::aligned_allocator< PointT > > VectorType
PlanarRegion(const Eigen::Vector3f ¢roid, const Eigen::Matrix3f &covariance, unsigned count, const typename pcl::PointCloud< PointT >::VectorType &contour, const Eigen::Vector4f &coefficients)
Constructor for PlanarRegion.
PlanarRegion(const pcl::Region3D< PointT > ®ion, const pcl::PlanarPolygon< PointT > &polygon)
Constructor for Planar region from a Region3D and a PlanarPolygon.
Region3D represents summary statistics of a 3D collection of points.
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 coefficients_
A list of model coefficients (a,b,c,d).
unsigned count_
The number of points in the region.
virtual ~PlanarRegion()
Destructor.
Eigen::Matrix3f covariance_
The covariance of the region.
PlanarRegion represents a set of points that lie in a plane.
PlanarRegion()
Empty constructor for PlanarRegion.