Point Cloud Library (PCL) 1.12.0
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polygon_operations.h
1/*
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37
38#pragma once
39
40#include <pcl/point_cloud.h>
41
42#include "planar_polygon.h"
43
44namespace pcl {
45/** \brief see approximatePolygon2D
46 * \author Suat Gedikli <gedikli@willowgarage.com>
47 */
48template <typename PointT>
49void
50approximatePolygon(const PlanarPolygon<PointT>& polygon,
51 PlanarPolygon<PointT>& approx_polygon,
52 float threshold,
53 bool refine = false,
54 bool closed = true);
55
56/** \brief returns an approximate polygon to given 2D contour. Uses just X and Y values.
57 * \note if refinement is not turned on, the resulting polygon will contain points from
58 * the original contour with their original z values (if any)
59 * \note if refinement is turned on, the z values of the refined polygon are not valid
60 * and should be set to 0 if point contains z attribute.
61 * \param [in] polygon input polygon
62 * \param [out] approx_polygon approximate polygon
63 * \param [in] threshold maximum allowed distance of an input vertex to an output edge
64 * \param refine
65 * \param [in] closed whether it is a closed polygon or a polyline
66 * \author Suat Gedikli <gedikli@willowgarage.com>
67 */
68template <typename PointT>
69void
71 typename PointCloud<PointT>::VectorType& approx_polygon,
72 float threshold,
73 bool refine = false,
74 bool closed = true);
75
76} // namespace pcl
77
78#include "impl/polygon_operations.hpp"
std::vector< PointT, Eigen::aligned_allocator< PointT > > VectorType
void approximatePolygon2D(const typename PointCloud< PointT >::VectorType &polygon, typename PointCloud< PointT >::VectorType &approx_polygon, float threshold, bool refine=false, bool closed=true)
returns an approximate polygon to given 2D contour.
void approximatePolygon(const PlanarPolygon< PointT > &polygon, PlanarPolygon< PointT > &approx_polygon, float threshold, bool refine=false, bool closed=true)
see approximatePolygon2D