Point Cloud Library (PCL)  1.9.1-dev
comparator.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2012, Willow Garage, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of the copyright holder(s) nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  *
37  *
38  */
39 
40 #pragma once
41 
42 #include <pcl/pcl_macros.h>
43 #include <pcl/point_cloud.h>
44 
45 namespace pcl
46 {
47  /** \brief Comparator is the base class for comparators that compare two points given some function.
48  * Currently intended for use with OrganizedConnectedComponentSegmentation
49  *
50  * \author Alex Trevor
51  */
52  template <typename PointT>
53  class Comparator
54  {
55  public:
57  using PointCloudPtr = typename PointCloud::Ptr;
59 
60  using Ptr = boost::shared_ptr<Comparator<PointT> >;
61  using ConstPtr = boost::shared_ptr<const Comparator<PointT> >;
62 
63  /** \brief Empty constructor for comparator. */
65  {
66  }
67 
68  /** \brief Empty destructor for comparator. */
69  virtual
71  {
72  }
73 
74  /** \brief Set the input cloud for the comparator.
75  * \param[in] cloud the point cloud this comparator will operate on
76  */
77  virtual void
79  {
80  input_ = cloud;
81  }
82 
83  /** \brief Get the input cloud this comparator operates on. */
84  virtual PointCloudConstPtr
85  getInputCloud () const
86  {
87  return (input_);
88  }
89 
90  /** \brief Compares the two points in the input cloud designated by these two indices.
91  * This is pure virtual and must be implemented by subclasses with some comparison function.
92  * \param[in] idx1 the index of the first point.
93  * \param[in] idx2 the index of the second point.
94  */
95  virtual bool
96  compare (int idx1, int idx2) const = 0;
97 
98  protected:
100  public:
102  };
103 }
typename PointCloud::Ptr PointCloudPtr
Definition: comparator.h:57
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:58
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud for the comparator.
Definition: comparator.h:78
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:359
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:53
boost::shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:61
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:412
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:60
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:413
PointCloudConstPtr input_
Definition: comparator.h:99
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:70
virtual PointCloudConstPtr getInputCloud() const
Get the input cloud this comparator operates on.
Definition: comparator.h:85
Defines all the PCL and non-PCL macros used.
Comparator()
Empty constructor for comparator.
Definition: comparator.h:64