Point Cloud Library (PCL)  1.10.1-dev
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 
46 namespace 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>
54  class Comparator
55  {
56  public:
58  using PointCloudPtr = typename PointCloud::Ptr;
60 
63 
64  /** \brief Empty constructor for comparator. */
66  {
67  }
68 
69  /** \brief Empty destructor for comparator. */
70  virtual
72  {
73  }
74 
75  /** \brief Set the input cloud for the comparator.
76  * \param[in] cloud the point cloud this comparator will operate on
77  */
78  virtual void
80  {
81  input_ = cloud;
82  }
83 
84  /** \brief Get the input cloud this comparator operates on. */
85  virtual PointCloudConstPtr
86  getInputCloud () const
87  {
88  return (input_);
89  }
90 
91  /** \brief Compares the two points in the input cloud designated by these two indices.
92  * This is pure virtual and must be implemented by subclasses with some comparison function.
93  * \param[in] idx1 the index of the first point.
94  * \param[in] idx2 the index of the second point.
95  */
96  virtual bool
97  compare (int idx1, int idx2) const = 0;
98 
99  protected:
101  public:
103  };
104 }
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:414
Defines functions, macros and traits for allocating and using memory.
typename PointCloud::Ptr PointCloudPtr
Definition: comparator.h:58
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:59
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud for the comparator.
Definition: comparator.h:79
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:65
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:54
shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:62
PointCloud represents the base class in PCL for storing collections of 3D points. ...
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:415
shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:61
PointCloudConstPtr input_
Definition: comparator.h:100
virtual bool compare(int idx1, int idx2) const =0
Compares the two points in the input cloud designated by these two indices.
virtual ~Comparator()
Empty destructor for comparator.
Definition: comparator.h:71
virtual PointCloudConstPtr getInputCloud() const
Get the input cloud this comparator operates on.
Definition: comparator.h:86
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: memory.h:81
Defines all the PCL and non-PCL macros used.
Comparator()
Empty constructor for comparator.
Definition: comparator.h:65