planar_polygon_fusion.h

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#ifndef PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_
#define PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_

#include <Eigen/Core>
#include <vector>
#include <pcl/segmentation/planar_region.h>

namespace pcl
{
  template <typename PointT>
  class PlanarPolygonFusion
  {
    public:
      PlanarPolygonFusion () : regions_ () {}
     
      virtual ~PlanarPolygonFusion () {}

      void 
      reset ()
      {
        regions_.clear ();
      }
      
      void
      addInputPolygons (const std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > > &input)
      {
        int start = static_cast<int> (regions_.size ());
        regions_.resize (regions_.size () + input.size ());
        for(size_t i = 0; i < input.size (); i++)
          regions_[start+i] = input[i];
      }

    protected:
      std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > regions_;
  };
}

#endif // PCL_SEGMENTATION_PLANAR_POLYGON_FUSION_H_