Point Cloud Library (PCL) 1.13.1
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comparator.h
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39
40#pragma once
41
42#include <pcl/memory.h>
43#include <pcl/pcl_macros.h>
44#include <pcl/point_cloud.h>
45
46namespace pcl
47{
48 /** \brief Comparator is the base class for comparators that compare two points given some function.
49 * Currently intended for use with OrganizedConnectedComponentSegmentation
50 *
51 * \author Alex Trevor
52 */
53 template <typename PointT>
55 {
56 public:
60
61 using Ptr = shared_ptr<Comparator<PointT> >;
62 using ConstPtr = shared_ptr<const Comparator<PointT> >;
63
64 /** \brief Empty constructor for comparator. */
66 {
67 }
68
69 /** \brief Empty destructor for comparator. */
70 virtual
71 ~Comparator () = default;
72
73 /** \brief Set the input cloud for the comparator.
74 * \param[in] cloud the point cloud this comparator will operate on
75 */
76 virtual void
78 {
79 input_ = cloud;
80 }
81
82 /** \brief Get the input cloud this comparator operates on. */
83 virtual PointCloudConstPtr
85 {
86 return (input_);
87 }
88
89 /** \brief Compares the two points in the input cloud designated by these two indices.
90 * This is pure virtual and must be implemented by subclasses with some comparison function.
91 * \param[in] idx1 the index of the first point.
92 * \param[in] idx2 the index of the second point.
93 */
94 virtual bool
95 compare (int idx1, int idx2) const = 0;
96
97 protected:
99 public:
101 };
102}
Comparator is the base class for comparators that compare two points given some function.
Definition comparator.h:55
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud for the comparator.
Definition comparator.h:77
PointCloudConstPtr input_
Definition comparator.h:98
shared_ptr< Comparator< PointT > > Ptr
Definition comparator.h:61
typename PointCloud::ConstPtr PointCloudConstPtr
Definition comparator.h:59
shared_ptr< const Comparator< PointT > > ConstPtr
Definition comparator.h:62
virtual bool compare(int idx1, int idx2) const =0
Compares the two points in the input cloud designated by these two indices.
virtual ~Comparator()=default
Empty destructor for comparator.
virtual PointCloudConstPtr getInputCloud() const
Get the input cloud this comparator operates on.
Definition comparator.h:84
typename PointCloud::Ptr PointCloudPtr
Definition comparator.h:58
Comparator()
Empty constructor for comparator.
Definition comparator.h:65
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.