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#include <pcl/point_types.h>
// holds info about a plane,
// particularly: the centre, the x,y,z ranges, if its a vertical (long side) or horizontal plane
// estimated normals
struct planeInfo{
/**
* the estimated centre of the plane */
pcl::PointXYZ center;
/**
* the estimated normal of the plane
* the sign is initially not known */
pcl::PointXYZ normal;
/**
* the ranges for the x y z extents */
double xrange[2];
double yrange[2];
double zrange[2];
/**
* is this a long edge plane in the xy
* dims would be 6 x 2 */
bool vertical;
/**
* is this an end cap, smaller
* dims are: 2 x 2 */
bool horizontal;
/**
* coeffs of the ransac model that produced this */
double coeffs[4];
/**
* the distance of this surface from the centroid (supossedly) */
double radius;
/**
* as far as we can deduce, should the normal be positive or negatively signed
*/
float normalSign;
/**
* the 2d convex hull defining this face*/
pcl::PointCloud<pcl::PointXYZ> cloud_hull;
};