planar_region.h

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#ifndef PCL_SEGMENTATION_PLANAR_REGION_H_
#define PCL_SEGMENTATION_PLANAR_REGION_H_

#include <pcl/segmentation/region_3d.h>
#include <pcl/geometry/planar_polygon.h>

namespace pcl
{
  template <typename PointT>
  class PlanarRegion : public pcl::Region3D<PointT>, public pcl::PlanarPolygon<PointT>
  {
    protected:
      using Region3D<PointT>::centroid_;
      using Region3D<PointT>::covariance_; 
      using Region3D<PointT>::count_;
      using PlanarPolygon<PointT>::contour_;
      using PlanarPolygon<PointT>::coefficients_;

    public:
      PlanarRegion () : contour_labels_ ()
      {}

      PlanarRegion (const pcl::Region3D<PointT>& region, const pcl::PlanarPolygon<PointT>& polygon) :
        contour_labels_ ()
      {
        centroid_ = region.centroid;
        covariance_ = region.covariance;
        count_ = region.count;
        contour_ = polygon.contour;
        coefficients_ = polygon.coefficients;
      }
      
      virtual ~PlanarRegion () {}

      PlanarRegion (const Eigen::Vector3f& centroid, const Eigen::Matrix3f& covariance, unsigned count,
                    const typename pcl::PointCloud<PointT>::VectorType& contour,
                    const Eigen::Vector4f& coefficients) :
        contour_labels_ ()
      {
        centroid_ = centroid;
        covariance_ = covariance;
        count_ = count;
        contour_ = contour;
        coefficients_ = coefficients;
      }
      
    private:
      std::vector<bool> contour_labels_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif //PCL_SEGMENTATION_PLANAR_REGION_H_