# -*- coding: utf-8 -*-

from libc.stddef cimport size_t

from libcpp.vector cimport vector
from libcpp.string cimport string
from libcpp cimport bool

from boost_shared_ptr cimport shared_ptr

# main
# cimport pcl_defs as cpp
from pcl_defs cimport PointIndices
from pcl_defs cimport ModelCoefficients
from pcl_defs cimport PointCloud
from pcl_defs cimport PointXYZ
from pcl_defs cimport PointXYZI
from pcl_defs cimport PointXYZRGB
from pcl_defs cimport PointXYZRGBA
from pcl_defs cimport Normal
from pcl_defs cimport PCLBase
from pcl_sample_consensus cimport SacModel
cimport pcl_surface as pclsf
cimport pcl_kdtree as pclkdt

##

cimport eigen as eigen3
from vector cimport vector as vector2

###############################################################################
# Types
###############################################################################

### base class ###

cdef extern from "pcl/segmentation/sac_segmentation.h" namespace "pcl":
    cdef cppclass SACSegmentation[T](PCLBase[T]):
        SACSegmentation()
        void setModelType (SacModel)
        # /** \brief Empty constructor. */
        # SACSegmentation () :  model_ (), sac_ (), model_type_ (-1), method_type_ (0), 
        #                       threshold_ (0), optimize_coefficients_ (true), 
        #                       radius_min_ (-std::numeric_limits<double>::max()), radius_max_ (std::numeric_limits<double>::max()), samples_radius_ (0.0), eps_angle_ (0.0),
        #                       axis_ (Eigen::Vector3f::Zero ()), max_iterations_ (50), probability_ (0.99)
        # 
        # /** \brief Get the type of SAC model used.
        # inline int getModelType () const { return (model_type_); }
        int getModelType ()
        
        # \brief Get a pointer to the SAC method used.
        # inline SampleConsensusPtr getMethod () const { return (sac_); }
        # 
        # \brief Get a pointer to the SAC model used.
        # inline SampleConsensusModelPtr getModel () const { return (model_); }
        
        void setMethodType (int)
        
        # brief Get the type of sample consensus method used.
        # inline int getMethodType () const { return (method_type_); }
        int getMethodType ()
        
        void setDistanceThreshold (float)

        # brief Get the distance to the model threshold.
        # inline double getDistanceThreshold () const { return (threshold_); }
        double getDistanceThreshold ()
        
        # use PCLBase class function
        # void setInputCloud (shared_ptr[PointCloud[T]])
        
        void setMaxIterations (int)
        # \brief Get maximum number of iterations before giving up.
        # inline int getMaxIterations () const { return (max_iterations_); }
        int getMaxIterations ()
        
        # \brief Set the probability of choosing at least one sample free from outliers.
        # \param[in] probability the model fitting probability
        # inline void setProbability (double probability) { probability_ = probability; }
        void setProbability (double probability)
        
        # \brief Get the probability of choosing at least one sample free from outliers.
        # inline double getProbability () const { return (probability_); }
        double getProbability ()
        
        void setOptimizeCoefficients (bool)
        
        # \brief Get the coefficient refinement internal flag.
        # inline bool getOptimizeCoefficients () const { return (optimize_coefficients_); }
        bool getOptimizeCoefficients ()
        
        # \brief Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)
        # \param[in] min_radius the minimum radius model
        # \param[in] max_radius the maximum radius model
        # inline void setRadiusLimits (const double &min_radius, const double &max_radius)
        void setRadiusLimits (const double &min_radius, const double &max_radius)
        
        # \brief Get the minimum and maximum allowable radius limits for the model as set by the user.
        # \param[out] min_radius the resultant minimum radius model
        # \param[out] max_radius the resultant maximum radius model
        # inline void getRadiusLimits (double &min_radius, double &max_radius)
        void getRadiusLimits (double &min_radius, double &max_radius)
        
        # \brief Set the maximum distance allowed when drawing random samples
        # \param[in] radius the maximum distance (L2 norm)
        # inline void setSamplesMaxDist (const double &radius, SearchPtr search)
        # void setSamplesMaxDist (const double &radius, SearchPtr search)
        
        # \brief Get maximum distance allowed when drawing random samples
        # \param[out] radius the maximum distance (L2 norm)
        # inline void getSamplesMaxDist (double &radius)
        void getSamplesMaxDist (double &radius)
        
        # \brief Set the axis along which we need to search for a model perpendicular to.
        # \param[in] ax the axis along which we need to search for a model perpendicular to
        # inline void setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
        void setAxis (const eigen3.Vector3f &ax)
        
        # \brief Get the axis along which we need to search for a model perpendicular to.
        # inline Eigen::Vector3f getAxis () const { return (axis_); }
        eigen3.Vector3f getAxis ()
        
        # \brief Set the angle epsilon (delta) threshold.
        # \param[in] ea the maximum allowed difference between the model normal and the given axis in radians.
        # inline void setEpsAngle (double ea) { eps_angle_ = ea; }
        void setEpsAngle (double ea)
        
        # /** \brief Get the epsilon (delta) model angle threshold in radians. */
        # inline double getEpsAngle () const { return (eps_angle_); }
        double getEpsAngle ()

        void segment (PointIndices, ModelCoefficients)


ctypedef SACSegmentation[PointXYZ] SACSegmentation_t
ctypedef SACSegmentation[PointXYZI] SACSegmentation_PointXYZI_t
ctypedef SACSegmentation[PointXYZRGB] SACSegmentation_PointXYZRGB_t
ctypedef SACSegmentation[PointXYZRGBA] SACSegmentation_PointXYZRGBA_t
###

# comparator.h
# namespace pcl
# brief Comparator is the base class for comparators that compare two points given some function.
# Currently intended for use with OrganizedConnectedComponentSegmentation
# author Alex Trevor
# template <typename PointT> class Comparator
cdef extern from "pcl/segmentation/comparator.h" namespace "pcl":
    cdef cppclass Comparator[T]:
        Comparator()
        # public:
        # typedef pcl::PointCloud<PointT> PointCloud;
        # typedef typename PointCloud::Ptr PointCloudPtr;
        # typedef typename PointCloud::ConstPtr PointCloudConstPtr;
        # typedef boost::shared_ptr<Comparator<PointT> > Ptr;
        # typedef boost::shared_ptr<const Comparator<PointT> > ConstPtr;
        # 
        # /** \brief Set the input cloud for the comparator.
        #   * \param[in] cloud the point cloud this comparator will operate on
        #   */
        # virtual void setInputCloud (const PointCloudConstPtr& cloud)
        # 
        # /** \brief Get the input cloud this comparator operates on. */
        # virtual PointCloudConstPtr getInputCloud () const
        # 
        # /** \brief Compares the two points in the input cloud designated by these two indices.
        #   * This is pure virtual and must be implemented by subclasses with some comparison function.
        #   * \param[in] idx1 the index of the first point.
        #   * \param[in] idx2 the index of the second point.
        #   */
        # virtual bool compare (int idx1, int idx2) const = 0;


###

# plane_coefficient_comparator.h
# namespace pcl
# brief PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation.
# In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
# author Alex Trevor
# template<typename PointT, typename PointNT> class PlaneCoefficientComparator: public Comparator<PointT>
cdef extern from "pcl/segmentation/plane_coefficient_comparator.h" namespace "pcl":
    cdef cppclass PlaneCoefficientComparator[T, NT](Comparator[T]):
        PlaneCoefficientComparator()
        # PlaneCoefficientComparator (boost::shared_ptr<std::vector<float> >& plane_coeff_d)
        # public:
        # typedef typename Comparator<PointT>::PointCloud PointCloud;
        # typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
        # typedef typename pcl::PointCloud<PointNT> PointCloudN;
        # typedef typename PointCloudN::Ptr PointCloudNPtr;
        # typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
        # typedef boost::shared_ptr<PlaneCoefficientComparator<PointT, PointNT> > Ptr;
        # typedef boost::shared_ptr<const PlaneCoefficientComparator<PointT, PointNT> > ConstPtr;
        # using pcl::Comparator<PointT>::input_;
        # 
        # virtual void setInputCloud (const PointCloudConstPtr& cloud)
        
        # /** \brief Provide a pointer to the input normals.
        #   * \param[in] normals the input normal cloud
        # inline void setInputNormals (const PointCloudNConstPtr &normals)
        
        # /** \brief Get the input normals. */
        # inline PointCloudNConstPtr getInputNormals () const
        
        # /** \brief Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.  a, b, and c are provided by the normal cloud.
        #   * \param[in] plane_coeff_d a pointer to the plane coefficients.
        # void setPlaneCoeffD (boost::shared_ptr<std::vector<float> >& plane_coeff_d)
        
        # /** \brief Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.  a, b, and c are provided by the normal cloud.
        #   * \param[in] plane_coeff_d a pointer to the plane coefficients.
        # void setPlaneCoeffD (std::vector<float>& plane_coeff_d)
        
        # /** \brief Get a pointer to the vector of the d-coefficient of the planes' hessian normal form. */
        # const std::vector<float>& getPlaneCoeffD () const
        
        # /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
        #   * \param[in] angular_threshold the tolerance in radians
        # virtual void setAngularThreshold (float angular_threshold)
        
        # /** \brief Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
        # inline float getAngularThreshold () const
        float getAngularThreshold ()
        
        # /** \brief Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.
        #   * \param[in] distance_threshold the tolerance in meters (at 1m)
        #   * \param[in] depth_dependent whether to scale the threshold based on range from the sensor (default: false)
        # void setDistanceThreshold (float distance_threshold, bool depth_dependent = false)
        void setDistanceThreshold (float distance_threshold, bool depth_dependent)
        
        # /** \brief Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. */
        # inline float getDistanceThreshold () const
        float getDistanceThreshold ()
        
        # /** \brief Compare points at two indices by their plane equations.  True if the angle between the normals is less than the angular threshold,
        #   * and the difference between the d component of the normals is less than distance threshold, else false
        #   * \param idx1 The first index for the comparison
        #   * \param idx2 The second index for the comparison
        # virtual bool compare (int idx1, int idx2) const


###

### Inheritance class ###

# \brief @b SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and
#  models that require the use of surface normals for estimation.
# \ingroup segmentation
# cdef cppclass SACSegmentationFromNormals[T, N]:
cdef extern from "pcl/segmentation/sac_segmentation.h" namespace "pcl":
    cdef cppclass SACSegmentationFromNormals[T, N](SACSegmentation[T]):
        SACSegmentationFromNormals()
        
        # /** \brief Empty constructor. */
        # SACSegmentationFromNormals () : 
        #   normals_ (), 
        #   distance_weight_ (0.1), 
        #   distance_from_origin_ (0), 
        #   min_angle_ (), 
        #   max_angle_ ()
        # {};
        
        # use PCLBase class function
        # void setInputCloud (shared_ptr[PointCloud[T]])
        
        # /** \brief Provide a pointer to the input dataset that contains the point normals of 
        #   * the XYZ dataset.
        #   * \param[in] normals the const boost shared pointer to a PointCloud message
        #   */
        # inline void setInputNormals (const PointCloudNConstPtr &normals) { normals_ = normals; }
        # void setInputNormals (const PointCloudNConstPtr &normals)
        void setInputNormals (shared_ptr[PointCloud[N]])
        
        # /** \brief Get a pointer to the normals of the input XYZ point cloud dataset. */
        # inline PointCloudNConstPtr getInputNormals () const { return (normals_); }
        # PointCloudNConstPtr getInputNormals ()
        
        # /** \brief Set the relative weight (between 0 and 1) to give to the angular 
        #   * distance (0 to pi/2) between point normals and the plane normal.
        #   * \param[in] distance_weight the distance/angular weight
        #   */
        # inline void setNormalDistanceWeight (double distance_weight) { distance_weight_ = distance_weight; }
        void setNormalDistanceWeight (double distance_weight)
        
        # /** \brief Get the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point
        #   * normals and the plane normal. */
        # inline double getNormalDistanceWeight () const { return (distance_weight_); }
        double getNormalDistanceWeight ()
        
        # /** \brief Set the minimum opning angle for a cone model.
        #   * \param oa the opening angle which we need minumum to validate a cone model.
        #   */
        # inline void setMinMaxOpeningAngle (const double &min_angle, const double &max_angle)
        void setMinMaxOpeningAngle (const double &min_angle, const double &max_angle)
        
        # /** \brief Get the opening angle which we need minumum to validate a cone model. */
        # inline void getMinMaxOpeningAngle (double &min_angle, double &max_angle)
        void getMinMaxOpeningAngle (double &min_angle, double &max_angle)
        
        # /** \brief Set the distance we expect a plane model to be from the origin
        #   * \param[in] d distance from the template plane modl to the origin
        #   */
        # inline void setDistanceFromOrigin (const double d) { distance_from_origin_ = d; }
        void setDistanceFromOrigin (const double d)
        
        # /** \brief Get the distance of a plane model from the origin. */
        # inline double getDistanceFromOrigin () const { return (distance_from_origin_); }
        double getDistanceFromOrigin ()


ctypedef SACSegmentationFromNormals[PointXYZ, Normal] SACSegmentationFromNormals_t
ctypedef SACSegmentationFromNormals[PointXYZI, Normal] SACSegmentationFromNormals_PointXYZI_t
ctypedef SACSegmentationFromNormals[PointXYZRGB, Normal] SACSegmentationFromNormals_PointXYZRGB_t
ctypedef SACSegmentationFromNormals[PointXYZRGBA, Normal] SACSegmentationFromNormals_PointXYZRGBA_t
###


# edge_aware_plane_comparator.h
# namespace pcl
# /** \brief EdgeAwarePlaneComparator is a Comparator that operates on plane coefficients, 
#   * for use in planar segmentation.
#   * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
#   * \author Stefan Holzer, Alex Trevor
#   */
# template<typename PointT, typename PointNT>
# class EdgeAwarePlaneComparator: public PlaneCoefficientComparator<PointT, PointNT>
cdef extern from "pcl/segmentation/edge_aware_plane_comparator.h" namespace "pcl":
    cdef cppclass EdgeAwarePlaneComparator[T, NT](PlaneCoefficientComparator[T, NT]):
        EdgeAwarePlaneComparator()
        # EdgeAwarePlaneComparator (const float *distance_map)
        # public:
        # typedef typename Comparator<PointT>::PointCloud PointCloud;
        # typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
        # typedef typename pcl::PointCloud<PointNT> PointCloudN;
        # typedef typename PointCloudN::Ptr PointCloudNPtr;
        # typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
        # typedef boost::shared_ptr<EdgeAwarePlaneComparator<PointT, PointNT> > Ptr;
        # typedef boost::shared_ptr<const EdgeAwarePlaneComparator<PointT, PointNT> > ConstPtr;
        # using pcl::PlaneCoefficientComparator<PointT, PointNT>::input_;
        # using pcl::PlaneCoefficientComparator<PointT, PointNT>::normals_;
        # using pcl::PlaneCoefficientComparator<PointT, PointNT>::plane_coeff_d_;
        # using pcl::PlaneCoefficientComparator<PointT, PointNT>::angular_threshold_;
        # using pcl::PlaneCoefficientComparator<PointT, PointNT>::distance_threshold_;
        # 
        # /** \brief Set a distance map to use. For an example of a valid distance map see 
        #   * \ref OrganizedIntegralImageNormalEstimation
        #   * \param[in] distance_map the distance map to use
        #   */
        # inline void setDistanceMap (const float *distance_map)
        # /** \brief Return the distance map used. */
        # const float* getDistanceMap () const


###

# euclidean_cluster_comparator.h
# namespace pcl
# /** \brief EuclideanClusterComparator is a comparator used for finding clusters supported by planar surfaces.
#   * This needs to be run as a second pass after extracting planar surfaces, using MultiPlaneSegmentation for example.
#   * \author Alex Trevor
# template<typename PointT, typename PointNT, typename PointLT>
# class EuclideanClusterComparator: public Comparator<PointT>
cdef extern from "pcl/segmentation/euclidean_cluster_comparator.h" namespace "pcl":
    cdef cppclass EuclideanClusterComparator[T, NT, LT](Comparator[T]):
        EuclideanClusterComparator()
        # public:
        # typedef typename Comparator<PointT>::PointCloud PointCloud;
        # typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
        # typedef typename pcl::PointCloud<PointNT> PointCloudN;
        # typedef typename PointCloudN::Ptr PointCloudNPtr;
        # typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
        # typedef typename pcl::PointCloud<PointLT> PointCloudL;
        # typedef typename PointCloudL::Ptr PointCloudLPtr;
        # typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;
        # typedef boost::shared_ptr<EuclideanClusterComparator<PointT, PointNT, PointLT> > Ptr;
        # typedef boost::shared_ptr<const EuclideanClusterComparator<PointT, PointNT, PointLT> > ConstPtr;
        # using pcl::Comparator<PointT>::input_;
        # 
        # virtual void setInputCloud (const PointCloudConstPtr& cloud)
        
        # /** \brief Provide a pointer to the input normals.
        #   * \param[in] normals the input normal cloud
        # inline void setInputNormals (const PointCloudNConstPtr &normals)
        void setInputNormals (const shared_ptr[PointCloud[NT]] &normals)
        
        # /** \brief Get the input normals. */
        # inline PointCloudNConstPtr getInputNormals () const
        const shared_ptr[PointCloud[NT]] getInputNormals ()
        
        # /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
        #   * \param[in] angular_threshold the tolerance in radians
        # virtual inline void setAngularThreshold (float angular_threshold)
        # 
        # /** \brief Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
        # inline float getAngularThreshold () const
        float getAngularThreshold ()
        
        # /** \brief Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.
        #   * \param[in] distance_threshold the tolerance in meters
        # inline void setDistanceThreshold (float distance_threshold, bool depth_dependent)
        void setDistanceThreshold (float distance_threshold, bool depth_dependent)
        
        # /** \brief Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. */
        # inline float getDistanceThreshold () const
        float getDistanceThreshold ()
        
        # /** \brief Set label cloud
        #   * \param[in] labels The label cloud
        # void setLabels (PointCloudLPtr& labels)
        void setLabels (shared_ptr[PointCloud[LT]] &labels)
        
        # 
        # /** \brief Set labels in the label cloud to exclude.
        #   * \param exclude_labels a vector of bools corresponding to whether or not a given label should be considered
        # void setExcludeLabels (std::vector<bool>& exclude_labels)
        void setExcludeLabels (vector[bool]& exclude_labels)
        
        # /** \brief Compare points at two indices by their plane equations.  True if the angle between the normals is less than the angular threshold,
        #   * and the difference between the d component of the normals is less than distance threshold, else false
        #   * \param idx1 The first index for the comparison
        #   * \param idx2 The second index for the comparison
        # virtual bool compare (int idx1, int idx2) const


ctypedef EuclideanClusterComparator[PointXYZ, Normal, PointXYZ] EuclideanClusterComparator_t
ctypedef EuclideanClusterComparator[PointXYZI, Normal, PointXYZ] EuclideanClusterComparator_PointXYZI_t
ctypedef EuclideanClusterComparator[PointXYZRGB, Normal, PointXYZ] EuclideanClusterComparator_PointXYZRGB_t
ctypedef EuclideanClusterComparator[PointXYZRGBA, Normal, PointXYZ] EuclideanClusterComparator_PointXYZRGBA_t
ctypedef shared_ptr[EuclideanClusterComparator[PointXYZ, Normal, PointXYZ]] EuclideanClusterComparatorPtr_t
ctypedef shared_ptr[EuclideanClusterComparator[PointXYZI, Normal, PointXYZ]] EuclideanClusterComparator_PointXYZI_Ptr_t
ctypedef shared_ptr[EuclideanClusterComparator[PointXYZRGB, Normal, PointXYZ]] EuclideanClusterComparator_PointXYZRGB_Ptr_t
ctypedef shared_ptr[EuclideanClusterComparator[PointXYZRGBA, Normal, PointXYZ]] EuclideanClusterComparator_PointXYZRGBA_Ptr_t
###

# euclidean_plane_coefficient_comparator.h
# namespace pcl
# /** \brief EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients, 
#   * for use in planar segmentation.
#   * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
#   * \author Alex Trevor
# template<typename PointT, typename PointNT>
# class EuclideanPlaneCoefficientComparator: public PlaneCoefficientComparator<PointT, PointNT>
cdef extern from "pcl/segmentation/euclidean_plane_coefficient_comparator.h" namespace "pcl":
    cdef cppclass EuclideanPlaneCoefficientComparator[T, NT](PlaneCoefficientComparator[T, NT]):
        EuclideanPlaneCoefficientComparator()
        # public:
        # typedef typename Comparator<PointT>::PointCloud PointCloud;
        # typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
        # typedef typename pcl::PointCloud<PointNT> PointCloudN;
        # typedef typename PointCloudN::Ptr PointCloudNPtr;
        # typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
        # typedef boost::shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> > Ptr;
        # typedef boost::shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> > ConstPtr;
        # using pcl::Comparator<PointT>::input_;
        # using pcl::PlaneCoefficientComparator<PointT, PointNT>::normals_;
        # using pcl::PlaneCoefficientComparator<PointT, PointNT>::angular_threshold_;
        # using pcl::PlaneCoefficientComparator<PointT, PointNT>::distance_threshold_;
        # 
        # /** \brief Compare two neighboring points, by using normal information, and euclidean distance information.
        #   * \param[in] idx1 The index of the first point.
        #   * \param[in] idx2 The index of the second point.
        #   */
        # virtual bool compare (int idx1, int idx2) const


###

# extract_clusters.h
# namespace pcl
# brief Decompose a region of space into clusters based on the Euclidean distance between points
# param cloud the point cloud message
# param tree the spatial locator (e.g., kd-tree) used for nearest neighbors searching
# note the tree has to be created as a spatial locator on \a cloud
# param tolerance the spatial cluster tolerance as a measure in L2 Euclidean space
# param clusters the resultant clusters containing point indices (as a vector of PointIndices)
# param min_pts_per_cluster minimum number of points that a cluster may contain (default: 1)
# param max_pts_per_cluster maximum number of points that a cluster may contain (default: max int)
# ingroup segmentation
# template <typename PointT> void extractEuclideanClusters (
#       const PointCloud<PointT> &cloud, const boost::shared_ptr<search::Search<PointT> > &tree, 
#       float tolerance, std::vector<PointIndices> &clusters, 
#       unsigned int min_pts_per_cluster = 1, unsigned int max_pts_per_cluster = (std::numeric_limits<int>::max) ());
###

# extract_clusters.h
# namespace pcl
# /** \brief Decompose a region of space into clusters based on the Euclidean distance between points
#   * \param cloud the point cloud message
#   * \param indices a list of point indices to use from \a cloud
#   * \param tree the spatial locator (e.g., kd-tree) used for nearest neighbors searching
#   * \note the tree has to be created as a spatial locator on \a cloud and \a indices
#   * \param tolerance the spatial cluster tolerance as a measure in L2 Euclidean space
#   * \param clusters the resultant clusters containing point indices (as a vector of PointIndices)
#   * \param min_pts_per_cluster minimum number of points that a cluster may contain (default: 1)
#   * \param max_pts_per_cluster maximum number of points that a cluster may contain (default: max int)
#   * \ingroup segmentation
#   */
# template <typename PointT> void 
# extractEuclideanClusters (
#       const PointCloud<PointT> &cloud, const std::vector<int> &indices, 
#       const boost::shared_ptr<search::Search<PointT> > &tree, float tolerance, std::vector<PointIndices> &clusters, 
#       unsigned int min_pts_per_cluster = 1, unsigned int max_pts_per_cluster = (std::numeric_limits<int>::max) ());
###

# extract_clusters.h
# namespace pcl
# /** \brief Decompose a region of space into clusters based on the euclidean distance between points, and the normal
#   * angular deviation
#   * \param cloud the point cloud message
#   * \param normals the point cloud message containing normal information
#   * \param tree the spatial locator (e.g., kd-tree) used for nearest neighbors searching
#   * \note the tree has to be created as a spatial locator on \a cloud
#   * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
#   * \param clusters the resultant clusters containing point indices (as a vector of PointIndices)
#   * \param eps_angle the maximum allowed difference between normals in radians for cluster/region growing
#   * \param min_pts_per_cluster minimum number of points that a cluster may contain (default: 1)
#   * \param max_pts_per_cluster maximum number of points that a cluster may contain (default: max int)
#   * \ingroup segmentation
#   */
# template <typename PointT, typename Normal> void 
# extractEuclideanClusters (
#       const PointCloud<PointT> &cloud, const PointCloud<Normal> &normals, 
#       float tolerance, const boost::shared_ptr<KdTree<PointT> > &tree, 
#       std::vector<PointIndices> &clusters, double eps_angle, 
#       unsigned int min_pts_per_cluster = 1, 
#       unsigned int max_pts_per_cluster = (std::numeric_limits<int>::max) ())
###

# extract_clusters.h
# namespace pcl
# /** \brief Decompose a region of space into clusters based on the euclidean distance between points, and the normal
#   * angular deviation
#   * \param cloud the point cloud message
#   * \param normals the point cloud message containing normal information
#   * \param indices a list of point indices to use from \a cloud
#   * \param tree the spatial locator (e.g., kd-tree) used for nearest neighbors searching
#   * \note the tree has to be created as a spatial locator on \a cloud
#   * \param tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
#   * \param clusters the resultant clusters containing point indices (as PointIndices)
#   * \param eps_angle the maximum allowed difference between normals in degrees for cluster/region growing
#   * \param min_pts_per_cluster minimum number of points that a cluster may contain (default: 1)
#   * \param max_pts_per_cluster maximum number of points that a cluster may contain (default: max int)
#   * \ingroup segmentation
#   */
# template <typename PointT, typename Normal> 
# void extractEuclideanClusters (
#     const PointCloud<PointT> &cloud, const PointCloud<Normal> &normals, 
#     const std::vector<int> &indices, const boost::shared_ptr<KdTree<PointT> > &tree, 
#     float tolerance, std::vector<PointIndices> &clusters, double eps_angle, 
#     unsigned int min_pts_per_cluster = 1, 
#     unsigned int max_pts_per_cluster = (std::numeric_limits<int>::max) ())
###

# extract_clusters.h
# namespace pcl
# EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense.
# author Radu Bogdan Rusu
# ingroup segmentation
# template <typename PointT>
# class EuclideanClusterExtraction: public PCLBase<PointT>
cdef extern from "pcl/segmentation/extract_clusters.h" namespace "pcl":
    cdef cppclass EuclideanClusterExtraction[T](PCLBase[T]):
        EuclideanClusterExtraction()
        # public:
        # EuclideanClusterExtraction () : tree_ (), 
        #                                 cluster_tolerance_ (0),
        #                                 min_pts_per_cluster_ (1), 
        #                                 max_pts_per_cluster_ (std::numeric_limits<int>::max ())
        
        # brief Provide a pointer to the search object.
        # param[in] tree a pointer to the spatial search object.
        # inline void setSearchMethod (const KdTreePtr &tree) 
        void setSearchMethod (const pclkdt.KdTreePtr_t &tree)
        
        # brief Get a pointer to the search method used. 
        # @todo fix this for a generic search tree
        # inline KdTreePtr getSearchMethod () const 
        pclkdt.KdTreePtr_t getSearchMethod ()
        
        # brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
        # param[in] tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
        # inline void setClusterTolerance (double tolerance) 
        void setClusterTolerance (double tolerance) 
        
        # brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space.
        # inline double getClusterTolerance () const 
        double getClusterTolerance ()
        
        # brief Set the minimum number of points that a cluster needs to contain in order to be considered valid.
        # param[in] min_cluster_size the minimum cluster size
        # inline void setMinClusterSize (int min_cluster_size) 
        void setMinClusterSize (int min_cluster_size) 
        
        # brief Get the minimum number of points that a cluster needs to contain in order to be considered valid.
        # inline int getMinClusterSize () const 
        int getMinClusterSize ()
        
        # brief Set the maximum number of points that a cluster needs to contain in order to be considered valid.
        # param[in] max_cluster_size the maximum cluster size
        # inline void setMaxClusterSize (int max_cluster_size) 
        void setMaxClusterSize (int max_cluster_size) 
        
        # brief Get the maximum number of points that a cluster needs to contain in order to be considered valid.
        # inline int getMaxClusterSize () const 
        int getMaxClusterSize ()
        
        # brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
        # param[out] clusters the resultant point clusters
        # void extract (std::vector<PointIndices> &clusters);
        void extract (vector[PointIndices] &clusters)


ctypedef EuclideanClusterExtraction[PointXYZ] EuclideanClusterExtraction_t
ctypedef EuclideanClusterExtraction[PointXYZI] EuclideanClusterExtraction_PointXYZI_t
ctypedef EuclideanClusterExtraction[PointXYZRGB] EuclideanClusterExtraction_PointXYZRGB_t
ctypedef EuclideanClusterExtraction[PointXYZRGBA] EuclideanClusterExtraction_PointXYZRGBA_t
###


# extract_labeled_clusters.h
# namespace pcl
# /** \brief Decompose a region of space into clusters based on the Euclidean distance between points
#   * \param[in] cloud the point cloud message
#   * \param[in] tree the spatial locator (e.g., kd-tree) used for nearest neighbors searching
#   * \note the tree has to be created as a spatial locator on \a cloud
#   * \param[in] tolerance the spatial cluster tolerance as a measure in L2 Euclidean space
#   * \param[out] labeled_clusters the resultant clusters containing point indices (as a vector of PointIndices)
#   * \param[in] min_pts_per_cluster minimum number of points that a cluster may contain (default: 1)
#   * \param[in] max_pts_per_cluster maximum number of points that a cluster may contain (default: max int)
#   * \param[in] max_label
#   * \ingroup segmentation
#   */
# template <typename PointT> void 
# extractLabeledEuclideanClusters (
#     const PointCloud<PointT> &cloud, const boost::shared_ptr<search::Search<PointT> > &tree, 
#     float tolerance, std::vector<std::vector<PointIndices> > &labeled_clusters, 
#     unsigned int min_pts_per_cluster = 1, unsigned int max_pts_per_cluster = (std::numeric_limits<int>::max) (), 
#     unsigned int max_label = (std::numeric_limits<int>::max));


# extract_labeled_clusters.h
# namespace pcl
# brief @b LabeledEuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, with label info.
# author Koen Buys
# ingroup segmentation
# template <typename PointT>
# class LabeledEuclideanClusterExtraction: public PCLBase<PointT>
        # typedef PCLBase<PointT> BasePCLBase;
        # 
        # public:
        # typedef pcl::PointCloud<PointT> PointCloud;
        # typedef typename PointCloud::Ptr PointCloudPtr;
        # typedef typename PointCloud::ConstPtr PointCloudConstPtr;
        # typedef typename pcl::search::Search<PointT> KdTree;
        # typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
        # typedef PointIndices::Ptr PointIndicesPtr;
        # typedef PointIndices::ConstPtr PointIndicesConstPtr;
        # 
        # /** \brief Empty constructor. */
        # LabeledEuclideanClusterExtraction () : 
        #   tree_ (), 
        #   cluster_tolerance_ (0),
        #   min_pts_per_cluster_ (1), 
        #   max_pts_per_cluster_ (std::numeric_limits<int>::max ()),
        #   max_label_ (std::numeric_limits<int>::max ())
        # {};
        # 
        # /** \brief Provide a pointer to the search object.
        #   * \param[in] tree a pointer to the spatial search object.
        #   */
        # inline void setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
        # 
        # /** \brief Get a pointer to the search method used. */
        # inline KdTreePtr getSearchMethod () const { return (tree_); }
        # 
        # /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space
        #   * \param[in] tolerance the spatial cluster tolerance as a measure in the L2 Euclidean space
        #   */
        # inline void setClusterTolerance (double tolerance) { cluster_tolerance_ = tolerance; }
        # 
        # /** \brief Get the spatial cluster tolerance as a measure in the L2 Euclidean space. */
        # inline double getClusterTolerance () const { return (cluster_tolerance_); }
        # 
        # /** \brief Set the minimum number of points that a cluster needs to contain in order to be considered valid.
        #   * \param[in] min_cluster_size the minimum cluster size
        #   */
        # inline void setMinClusterSize (int min_cluster_size) { min_pts_per_cluster_ = min_cluster_size; }
        # 
        # /** \brief Get the minimum number of points that a cluster needs to contain in order to be considered valid. */
        # inline int getMinClusterSize () const { return (min_pts_per_cluster_); }
        # 
        # /** \brief Set the maximum number of points that a cluster needs to contain in order to be considered valid.
        #   * \param[in] max_cluster_size the maximum cluster size
        #   */
        # inline void setMaxClusterSize (int max_cluster_size) { max_pts_per_cluster_ = max_cluster_size; }
        # 
        # /** \brief Get the maximum number of points that a cluster needs to contain in order to be considered valid. */
        # inline int getMaxClusterSize () const { return (max_pts_per_cluster_); }
        # 
        # /** \brief Set the maximum number of labels in the cloud.
        #   * \param[in] max_label the maximum
        #   */
        # inline void setMaxLabels (unsigned int max_label) { max_label_ = max_label; }
        # 
        # /** \brief Get the maximum number of labels */
        # inline unsigned int getMaxLabels () const { return (max_label_); }
        # 
        # /** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
        #   * \param[out] labeled_clusters the resultant point clusters
        #   */
        # void extract (std::vector<std::vector<PointIndices> > &labeled_clusters);
        # 
        # protected:
        #     // Members derived from the base class
        #     using BasePCLBase::input_;
        #     using BasePCLBase::indices_;
        #     using BasePCLBase::initCompute;
        #     using BasePCLBase::deinitCompute;
        # 
        # /** \brief A pointer to the spatial search object. */
        # KdTreePtr tree_;
        # /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
        # double cluster_tolerance_;
        # /** \brief The minimum number of points that a cluster needs to contain in order to be considered valid (default = 1). */
        # int min_pts_per_cluster_;
        # /** \brief The maximum number of points that a cluster needs to contain in order to be considered valid (default = MAXINT). */
        # int max_pts_per_cluster_;
        # /** \brief The maximum number of labels we can find in this pointcloud (default = MAXINT)*/
        # unsigned int max_label_;
        # /** \brief Class getName method. */
        # virtual std::string getClassName () const { return ("LabeledEuclideanClusterExtraction"); }
        # 

        #   brief Sort clusters method (for std::sort). 
        #   ingroup segmentation
        #   inline bool compareLabeledPointClusters (const pcl::PointIndices &a, const pcl::PointIndices &b)
        #   {
        #     return (a.indices.size () < b.indices.size ());
        #   }
###

# extract_polygonal_prism_data.h
# namespace pcl
# /** \brief General purpose method for checking if a 3D point is inside or
#   * outside a given 2D polygon. 
#   * \note this method accepts any general 3D point that is projected onto the
#   * 2D polygon, but performs an internal XY projection of both the polygon and the point. 
#   * \param point a 3D point projected onto the same plane as the polygon
#   * \param polygon a polygon
#   * \ingroup segmentation
#   */
# template <typename PointT> bool isPointIn2DPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon);
###

# extract_polygonal_prism_data.h
# namespace pcl
# /** \brief Check if a 2d point (X and Y coordinates considered only!) is
#   * inside or outside a given polygon. This method assumes that both the point
#   * and the polygon are projected onto the XY plane.
#   *
#   * \note (This is highly optimized code taken from http://www.visibone.com/inpoly/)
#   *       Copyright (c) 1995-1996 Galacticomm, Inc.  Freeware source code.
#   * \param point a 3D point projected onto the same plane as the polygon
#   * \param polygon a polygon
#   * \ingroup segmentation
#   */
# template <typename PointT> bool 
# isXYPointIn2DXYPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon);
###

# extract_polygonal_prism_data.h
# namespace pcl
# /** \brief @b ExtractPolygonalPrismData uses a set of point indices that
#   * represent a planar model, and together with a given height, generates a 3D
#   * polygonal prism. The polygonal prism is then used to segment all points
#   * lying inside it.
#   * An example of its usage is to extract the data lying within a set of 3D
#   * boundaries (e.g., objects supported by a plane).
#   * \author Radu Bogdan Rusu
#   * \ingroup segmentation
#   */
# template <typename PointT>
# class ExtractPolygonalPrismData : public PCLBase<PointT>
cdef extern from "pcl/segmentation/extract_polygonal_prism_data.h" namespace "pcl":
    cdef cppclass ExtractPolygonalPrismData[T](PCLBase[T]):
        ExtractPolygonalPrismData()
        # public:
        # typedef pcl::PointCloud<PointT> PointCloud;
        # typedef typename PointCloud::Ptr PointCloudPtr;
        # typedef typename PointCloud::ConstPtr PointCloudConstPtr;
        # typedef PointIndices::Ptr PointIndicesPtr;
        # typedef PointIndices::ConstPtr PointIndicesConstPtr;
        # 
        # brief Empty constructor.
        # ExtractPolygonalPrismData () : planar_hull_ (), min_pts_hull_ (3), 
        #                                height_limit_min_ (0), height_limit_max_ (FLT_MAX),
        #                                vpx_ (0), vpy_ (0), vpz_ (0)
        # {};
        # 
        # brief Provide a pointer to the input planar hull dataset.
        # param[in] hull the input planar hull dataset
        # inline void setInputPlanarHull (const PointCloudConstPtr &hull) { planar_hull_ = hull; }
        # 
        # brief Get a pointer the input planar hull dataset.
        # inline PointCloudConstPtr getInputPlanarHull () const { return (planar_hull_); }
        # 
        # brief Set the height limits. All points having distances to the
        # model outside this interval will be discarded.
        # param[in] height_min the minimum allowed distance to the plane model value
        # param[in] height_max the maximum allowed distance to the plane model value
        # inline void setHeightLimits (double height_min, double height_max)
        # 
        # brief Get the height limits (min/max) as set by the user. The
        # default values are -FLT_MAX, FLT_MAX. 
        # param[out] height_min the resultant min height limit
        # param[out] height_max the resultant max height limit
        # inline void getHeightLimits (double &height_min, double &height_max) const
        # 
        # brief Set the viewpoint.
        # param[in] vpx the X coordinate of the viewpoint
        # param[in] vpy the Y coordinate of the viewpoint
        # param[in] vpz the Z coordinate of the viewpoint
        # inline void setViewPoint (float vpx, float vpy, float vpz)
        # 
        # brief Get the viewpoint.
        # inline void getViewPoint (float &vpx, float &vpy, float &vpz) const
        # 
        # /** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
        #   * \param[out] output the resultant point indices that support the model found (inliers)
        # void segment (PointIndices &output);
        # 
        # protected:
        # brief A pointer to the input planar hull dataset.
        # PointCloudConstPtr planar_hull_;
        # 
        # brief The minimum number of points needed on the convex hull.
        # int min_pts_hull_;
        # 
        # brief The minimum allowed height (distance to the model) a point
        # will be considered from. 
        # double height_limit_min_;
        # 
        # brief The maximum allowed height (distance to the model) a point will be considered from. 
        # double height_limit_max_;
        # 
        # brief Values describing the data acquisition viewpoint. Default: 0,0,0.
        # float vpx_, vpy_, vpz_;
        # 
        # brief Class getName method.
        # virtual std::string getClassName () const { return ("ExtractPolygonalPrismData"); }


###

# organized_connected_component_segmentation.h
# namespace pcl
# /** \brief OrganizedConnectedComponentSegmentation allows connected
#   * components to be found within organized point cloud data, given a
#   * comparison function.  Given an input cloud and a comparator, it will
#   * output a PointCloud of labels, giving each connected component a unique
#   * id, along with a vector of PointIndices corresponding to each component.
#   * See OrganizedMultiPlaneSegmentation for an example application.
#   *
#   * \author Alex Trevor, Suat Gedikli
#   */
# template <typename PointT, typename PointLT>
# class OrganizedConnectedComponentSegmentation : public PCLBase<PointT>
#     using PCLBase<PointT>::input_;
#     using PCLBase<PointT>::indices_;
#     using PCLBase<PointT>::initCompute;
#     using PCLBase<PointT>::deinitCompute;
# 
#     public:
#       typedef typename pcl::PointCloud<PointT> PointCloud;
#       typedef typename PointCloud::Ptr PointCloudPtr;
#       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
#       
#       typedef typename pcl::PointCloud<PointLT> PointCloudL;
#       typedef typename PointCloudL::Ptr PointCloudLPtr;
#       typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;
# 
#       typedef typename pcl::Comparator<PointT> Comparator;
#       typedef typename Comparator::Ptr ComparatorPtr;
#       typedef typename Comparator::ConstPtr ComparatorConstPtr;
#       
#       /** \brief Constructor for OrganizedConnectedComponentSegmentation
#         * \param[in] compare A pointer to the comparator to be used for segmentation.  Must be an instance of pcl::Comparator.
#         */
#       OrganizedConnectedComponentSegmentation (const ComparatorConstPtr& compare)
#         : compare_ (compare)
#       {
#       }
# 
#       /** \brief Destructor for OrganizedConnectedComponentSegmentation. */
#       virtual
#       ~OrganizedConnectedComponentSegmentation ()
#       {
#       }
# 
#       /** \brief Provide a pointer to the comparator to be used for segmentation.
#         * \param[in] compare the comparator
#         */
#       void
#       setComparator (const ComparatorConstPtr& compare)
#       {
#         compare_ = compare;
#       }
#       
#       /** \brief Get the comparator.*/
#       ComparatorConstPtr
#       getComparator () const { return (compare_); }
# 
#       /** \brief Perform the connected component segmentation.
#         * \param[out] labels a PointCloud of labels: each connected component will have a unique id.
#         * \param[out] label_indices a vector of PointIndices corresponding to each label / component id.
#         */
#       void
#       segment (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
#       
#       /** \brief Find the boundary points / contour of a connected component
#         * \param[in] start_idx the first (lowest) index of the connected component for which a boundary shoudl be returned
#         * \param[in] labels the Label cloud produced by segmentation
#         * \param[out] boundary_indices the indices of the boundary points for the label corresponding to start_idx
#         */
#       static void
#       findLabeledRegionBoundary (int start_idx, PointCloudLPtr labels, pcl::PointIndices& boundary_indices);      
#       
# 
#     protected:
#       ComparatorConstPtr compare_;
#       
#       inline unsigned
#       findRoot (const std::vector<unsigned>& runs, unsigned index) const
#       {
#         register unsigned idx = index;
#         while (runs[idx] != idx)
#           idx = runs[idx];
# 
#         return (idx);
#       }
###

# organized_multi_plane_segmentation.h
# namespace pcl
# /** \brief OrganizedMultiPlaneSegmentation finds all planes present in the
#   * input cloud, and outputs a vector of plane equations, as well as a vector
#   * of point clouds corresponding to the inliers of each detected plane.  Only
#   * planes with more than min_inliers points are detected.
#   * Templated on point type, normal type, and label type
#   *
#   * \author Alex Trevor, Suat Gedikli
#   */
# template<typename PointT, typename PointNT, typename PointLT>
# class OrganizedMultiPlaneSegmentation : public PCLBase<PointT>
#     using PCLBase<PointT>::input_;
#     using PCLBase<PointT>::indices_;
#     using PCLBase<PointT>::initCompute;
#     using PCLBase<PointT>::deinitCompute;
# 
#     public:
#       typedef pcl::PointCloud<PointT> PointCloud;
#       typedef typename PointCloud::Ptr PointCloudPtr;
#       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
# 
#       typedef typename pcl::PointCloud<PointNT> PointCloudN;
#       typedef typename PointCloudN::Ptr PointCloudNPtr;
#       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
# 
#       typedef typename pcl::PointCloud<PointLT> PointCloudL;
#       typedef typename PointCloudL::Ptr PointCloudLPtr;
#       typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;
# 
#       typedef typename pcl::PlaneCoefficientComparator<PointT, PointNT> PlaneComparator;
#       typedef typename PlaneComparator::Ptr PlaneComparatorPtr;
#       typedef typename PlaneComparator::ConstPtr PlaneComparatorConstPtr;
# 
#       typedef typename pcl::PlaneRefinementComparator<PointT, PointNT, PointLT> PlaneRefinementComparator;
#       typedef typename PlaneRefinementComparator::Ptr PlaneRefinementComparatorPtr;
#       typedef typename PlaneRefinementComparator::ConstPtr PlaneRefinementComparatorConstPtr;
# 
#       /** \brief Constructor for OrganizedMultiPlaneSegmentation. */
#       OrganizedMultiPlaneSegmentation () :
#         normals_ (), 
#         min_inliers_ (1000), 
#         angular_threshold_ (pcl::deg2rad (3.0)), 
#         distance_threshold_ (0.02),
#         maximum_curvature_ (0.001),
#         project_points_ (false), 
#         compare_ (new PlaneComparator ()), refinement_compare_ (new PlaneRefinementComparator ())
#       {
#       }
# 
#       /** \brief Destructor for OrganizedMultiPlaneSegmentation. */
#       virtual
#       ~OrganizedMultiPlaneSegmentation ()
#       {
#       }
# 
#       /** \brief Provide a pointer to the input normals.
#         * \param[in] normals the input normal cloud
#         */
#       inline void
#       setInputNormals (const PointCloudNConstPtr &normals) 
#       {
#         normals_ = normals;
#       }
# 
#       /** \brief Get the input normals. */
#       inline PointCloudNConstPtr
#       getInputNormals () const
#       {
#         return (normals_);
#       }
# 
#       /** \brief Set the minimum number of inliers required for a plane
#         * \param[in] min_inliers the minimum number of inliers required per plane
#         */
#       inline void
#       setMinInliers (unsigned min_inliers)
#       {
#         min_inliers_ = min_inliers;
#       }
# 
#       /** \brief Get the minimum number of inliers required per plane. */
#       inline unsigned
#       getMinInliers () const
#       {
#         return (min_inliers_);
#       }
# 
#       /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
#         * \param[in] angular_threshold the tolerance in radians
#         */
#       inline void
#       setAngularThreshold (double angular_threshold)
#       {
#         angular_threshold_ = angular_threshold;
#       }
# 
#       /** \brief Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
#       inline double
#       getAngularThreshold () const
#       {
#         return (angular_threshold_);
#       }
# 
#       /** \brief Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.
#         * \param[in] distance_threshold the tolerance in meters
#         */
#       inline void
#       setDistanceThreshold (double distance_threshold)
#       {
#         distance_threshold_ = distance_threshold;
#       }
# 
#       /** \brief Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. */
#       inline double
#       getDistanceThreshold () const
#       {
#         return (distance_threshold_);
#       }
# 
#       /** \brief Set the maximum curvature allowed for a planar region.
#         * \param[in] maximum_curvature the maximum curvature
#         */
#       inline void
#       setMaximumCurvature (double maximum_curvature)
#       {
#         maximum_curvature_ = maximum_curvature;
#       }
# 
#       /** \brief Get the maximum curvature allowed for a planar region. */
#       inline double
#       getMaximumCurvature () const
#       {
#         return (maximum_curvature_);
#       }
# 
#       /** \brief Provide a pointer to the comparator to be used for segmentation.
#         * \param[in] compare A pointer to the comparator to be used for segmentation.
#         */
#       void
#       setComparator (const PlaneComparatorPtr& compare)
#       {
#         compare_ = compare;
#       }
# 
#       /** \brief Provide a pointer to the comparator to be used for refinement.
#         * \param[in] compare A pointer to the comparator to be used for refinement.
#         */
#       void
#       setRefinementComparator (const PlaneRefinementComparatorPtr& compare)
#       {
#         refinement_compare_ = compare;
#       }
# 
#       /** \brief Set whether or not to project boundary points to the plane, or leave them in the original 3D space.
#         * \param[in] project_points true if points should be projected, false if not.
#         */
#       void
#       setProjectPoints (bool project_points)
#       {
#         project_points_ = project_points;
#       }
# 
#       /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
#         * \param[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud
#         * \param[out] inlier_indices a vector of inliers for each detected plane
#         * \param[out] centroids a vector of centroids for each plane
#         * \param[out] covariances a vector of covariance matricies for the inliers of each plane
#         * \param[out] labels a point cloud for the connected component labels of each pixel
#         * \param[out] label_indices a vector of PointIndices for each labeled component
#         */
#       void
#       segment (std::vector<ModelCoefficients>& model_coefficients, 
#                std::vector<PointIndices>& inlier_indices,
#                std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
#                std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
#                pcl::PointCloud<PointLT>& labels, 
#                std::vector<pcl::PointIndices>& label_indices);
# 
#       /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
#         * \param[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud
#         * \param[out] inlier_indices a vector of inliers for each detected plane
#         */
#       void
#       segment (std::vector<ModelCoefficients>& model_coefficients, 
#                std::vector<PointIndices>& inlier_indices);
# 
#       /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
#         * \param[out] regions a list of resultant planar polygonal regions
#         */
#       void
#       segment (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions);
#       
#       /** \brief Perform a segmentation, as well as an additional refinement step.  This helps with including points whose normals may not match neighboring points well, but may match the planar model well.
#         * \param[out] regions A list of regions generated by segmentation and refinement.
#         */
#       void
#       segmentAndRefine (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions);
# 
#       /** \brief Perform a segmentation, as well as additional refinement step.  Returns intermediate data structures for use in
#         * subsequent processing.
#         * \param[out] regions A vector of PlanarRegions generated by segmentation
#         * \param[out] model_coefficients A vector of model coefficients for each segmented plane
#         * \param[out] inlier_indices A vector of PointIndices, indicating the inliers to each segmented plane
#         * \param[out] labels A PointCloud<PointLT> corresponding to the resulting segmentation.
#         * \param[out] label_indices A vector of PointIndices for each label
#         * \param[out] boundary_indices A vector of PointIndices corresponding to the outer boundary / contour of each label
#         */
#       void
#       segmentAndRefine (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions,
#                         std::vector<ModelCoefficients>& model_coefficients,
#                         std::vector<PointIndices>& inlier_indices,
#                         PointCloudLPtr& labels,
#                         std::vector<pcl::PointIndices>& label_indices,
#                         std::vector<pcl::PointIndices>& boundary_indices);
#       
#       /** \brief Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.
#         * \param [in] model_coefficients The list of segmented model coefficients
#         * \param [in] inlier_indices The list of segmented inlier indices, corresponding to each model
#         * \param [in] centroids The list of centroids corresponding to each segmented plane
#         * \param [in] covariances The list of covariances corresponding to each segemented plane
#         * \param [in] labels The labels produced by the initial segmentation
#         * \param [in] label_indices The list of indices corresponding to each label
#         */
#       void
#       refine (std::vector<ModelCoefficients>& model_coefficients, 
#               std::vector<PointIndices>& inlier_indices,
#               std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
#               std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
#               PointCloudLPtr& labels,
#               std::vector<pcl::PointIndices>& label_indices);


###

# planar_polygon_fusion.h
# namespace pcl
# /** \brief PlanarPolygonFusion takes a list of 2D planar polygons and
#   * attempts to reduce them to a minimum set that best represents the scene,
#   * based on various given comparators.
#   */
# template <typename PointT>
# class PlanarPolygonFusion
#     public:
#       /** \brief Constructor */
#       PlanarPolygonFusion () : regions_ () {}
#      
#       /** \brief Destructor */
#       virtual ~PlanarPolygonFusion () {}
# 
#       /** \brief Reset the state (clean the list of planar models). */
#       void 
#       reset ()
#       {
#         regions_.clear ();
#       }
#       
#       /** \brief Set the list of 2D planar polygons to refine.
#         * \param[in] input the list of 2D planar polygons to refine
#         */
#       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];
#       }


###

# planar_region.h
# namespace pcl
# /** \brief PlanarRegion represents a set of points that lie in a plane.  Inherits summary statistics about these points from Region3D, and  summary statistics of a 3D collection of points.
#   * \author Alex Trevor
#   */
# 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:
#       /** \brief Empty constructor for PlanarRegion. */
#       PlanarRegion () : contour_labels_ ()
#       {}
# 
#       /** \brief Constructor for Planar region from a Region3D and a PlanarPolygon. 
#         * \param[in] region a Region3D for the input data
#         * \param[in] polygon a PlanarPolygon for the input region
#         */
#       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;
#       }
#       
#       /** \brief Destructor. */
#       virtual ~PlanarRegion () {}
# 
#       /** \brief Constructor for PlanarRegion.
#         * \param[in] centroid the centroid of the region.
#         * \param[in] covariance the covariance of the region.
#         * \param[in] count the number of points in the region.
#         * \param[in] contour the contour / boudnary for the region
#         * \param[in] coefficients the model coefficients (a,b,c,d) for the plane
#         */
#       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;
#       }


###

# plane_refinement_comparator.h
# namespace pcl
# /** \brief PlaneRefinementComparator is a Comparator that operates on plane coefficients, 
#   * for use in planar segmentation.
#   * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
#   *
#   * \author Alex Trevor, Suat Gedikli
#   */
# template<typename PointT, typename PointNT, typename PointLT>
# class PlaneRefinementComparator: public PlaneCoefficientComparator<PointT, PointNT>
#     public:
#       typedef typename Comparator<PointT>::PointCloud PointCloud;
#       typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
#       typedef typename pcl::PointCloud<PointNT> PointCloudN;
#       typedef typename PointCloudN::Ptr PointCloudNPtr;
#       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
#       typedef typename pcl::PointCloud<PointLT> PointCloudL;
#       typedef typename PointCloudL::Ptr PointCloudLPtr;
#       typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;
#       typedef boost::shared_ptr<PlaneRefinementComparator<PointT, PointNT, PointLT> > Ptr;
#       typedef boost::shared_ptr<const PlaneRefinementComparator<PointT, PointNT, PointLT> > ConstPtr;
#       using pcl::PlaneCoefficientComparator<PointT, PointNT>::input_;
#       using pcl::PlaneCoefficientComparator<PointT, PointNT>::normals_;
#       using pcl::PlaneCoefficientComparator<PointT, PointNT>::distance_threshold_;
#       using pcl::PlaneCoefficientComparator<PointT, PointNT>::plane_coeff_d_;
# 
#       /** \brief Empty constructor for PlaneCoefficientComparator. */
#      PlaneRefinementComparator ()
#         : models_ ()
#         , labels_ ()
#         , refine_labels_ ()
#         , label_to_model_ ()
#         , depth_dependent_ (false)
#       
#       /** \brief Empty constructor for PlaneCoefficientComparator. 
#         * \param[in] models
#         * \param[in] refine_labels
#         */
#       PlaneRefinementComparator (boost::shared_ptr<std::vector<pcl::ModelCoefficients> >& models,
#                                  boost::shared_ptr<std::vector<bool> >& refine_labels)
#         : models_ (models)
#         , labels_ ()
#         , refine_labels_ (refine_labels)
#         , label_to_model_ ()
#         , depth_dependent_ (false)
#       
#       /** \brief Destructor for PlaneCoefficientComparator. */
#       virtual
#       ~PlaneRefinementComparator ()
#       
#       /** \brief Set the vector of model coefficients to which we will compare.
#         * \param[in] models a vector of model coefficients produced by the initial segmentation step.
#         */
#       void setModelCoefficients (boost::shared_ptr<std::vector<pcl::ModelCoefficients> >& models)
#       
#       /** \brief Set the vector of model coefficients to which we will compare.
#         * \param[in] models a vector of model coefficients produced by the initial segmentation step.
#         */
#       void setModelCoefficients (std::vector<pcl::ModelCoefficients>& models)
#       
#       /** \brief Set which labels should be refined.  This is a vector of bools 0-max_label, true if the label should be refined.
#         * \param[in] refine_labels A vector of bools 0-max_label, true if the label should be refined.
#         */
#       void setRefineLabels (boost::shared_ptr<std::vector<bool> >& refine_labels)
#       
#       /** \brief Set which labels should be refined.  This is a vector of bools 0-max_label, true if the label should be refined.
#         * \param[in] refine_labels A vector of bools 0-max_label, true if the label should be refined.
#         */
#       void setRefineLabels (std::vector<bool>& refine_labels)
#       
#       /** \brief A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.
#         * \param[in] label_to_model A vector of size max_label, with the index of each corresponding model in models
#         */
#       inline void setLabelToModel (boost::shared_ptr<std::vector<int> >& label_to_model)
#       
#       /** \brief A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.
#         * \param[in] label_to_model A vector of size max_label, with the index of each corresponding model in models
#         */
#       inline void setLabelToModel (std::vector<int>& label_to_model)
#       
#       /** \brief Get the vector of model coefficients to which we will compare. */
#       inline boost::shared_ptr<std::vector<pcl::ModelCoefficients> > getModelCoefficients () const
#       
#       /** \brief ...
#         * \param[in] labels
#         */
#       inline void setLabels (PointCloudLPtr& labels)
#       
#       /** \brief Compare two neighboring points
#         * \param[in] idx1 The index of the first point.
#         * \param[in] idx2 The index of the second point.
#         */
#       virtual bool compare (int idx1, int idx2) const


###

# region_3d.h
# namespace pcl
# /** \brief Region3D represents summary statistics of a 3D collection of points.
#   * \author Alex Trevor
#   */
# template <typename PointT>
# class Region3D
#     public:
#       /** \brief Empty constructor for Region3D. */
#       Region3D () : centroid_ (Eigen::Vector3f::Zero ()), covariance_ (Eigen::Matrix3f::Identity ()), count_ (0)
#       {
#       }
#       
#       /** \brief Constructor for Region3D. 
#         * \param[in] centroid The centroid of the region.
#         * \param[in] covariance The covariance of the region.
#         * \param[in] count The number of points in the region.
#         */
#       Region3D (Eigen::Vector3f& centroid, Eigen::Matrix3f& covariance, unsigned count) 
#         : centroid_ (centroid), covariance_ (covariance), count_ (count)
#       {
#       }
#      
#       /** \brief Destructor. */
#       virtual ~Region3D () {}
# 
#       /** \brief Get the centroid of the region. */
#       inline Eigen::Vector3f 
#       getCentroid () const
#       {
#         return (centroid_);
#       }
#       
#       /** \brief Get the covariance of the region. */
#       inline Eigen::Matrix3f
#       getCovariance () const
#       {
#         return (covariance_);
#       }
#       
#       /** \brief Get the number of points in the region. */
#       unsigned getCount () const


###

# rgb_plane_coefficient_comparator.h
# namespace pcl
# /** \brief RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients, 
#   * for use in planar segmentation.  Also takes into account RGB, so we can segmented different colored co-planar regions.
#   * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
#   *
#   * \author Alex Trevor
#   */
# template<typename PointT, typename PointNT>
# class RGBPlaneCoefficientComparator: public PlaneCoefficientComparator<PointT, PointNT>
#     public:
#       typedef typename Comparator<PointT>::PointCloud PointCloud;
#       typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
#       
#       typedef typename pcl::PointCloud<PointNT> PointCloudN;
#       typedef typename PointCloudN::Ptr PointCloudNPtr;
#       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
#       
#       typedef boost::shared_ptr<RGBPlaneCoefficientComparator<PointT, PointNT> > Ptr;
#       typedef boost::shared_ptr<const RGBPlaneCoefficientComparator<PointT, PointNT> > ConstPtr;
# 
#       using pcl::Comparator<PointT>::input_;
#       using pcl::PlaneCoefficientComparator<PointT, PointNT>::normals_;
#       using pcl::PlaneCoefficientComparator<PointT, PointNT>::angular_threshold_;
#       using pcl::PlaneCoefficientComparator<PointT, PointNT>::distance_threshold_;
# 
#       /** \brief Empty constructor for RGBPlaneCoefficientComparator. */
#       RGBPlaneCoefficientComparator ()
#         : color_threshold_ (50.0f)
#       {
#       }
# 
#       /** \brief Constructor for RGBPlaneCoefficientComparator.
#         * \param[in] plane_coeff_d a reference to a vector of d coefficients of plane equations.  Must be the same size as the input cloud and input normals.  a, b, and c coefficients are in the input normals.
#         */
#       RGBPlaneCoefficientComparator (boost::shared_ptr<std::vector<float> >& plane_coeff_d) 
#         : PlaneCoefficientComparator<PointT, PointNT> (plane_coeff_d), color_threshold_ (50.0f)
#       {
#       }
#       
#       /** \brief Destructor for RGBPlaneCoefficientComparator. */
#       virtual
#       ~RGBPlaneCoefficientComparator ()
#       {
#       }
# 
#       /** \brief Set the tolerance in color space between neighboring points, to be considered part of the same plane.
#         * \param[in] color_threshold The distance in color space
#         */
#       inline void
#       setColorThreshold (float color_threshold)
#       {
#         color_threshold_ = color_threshold * color_threshold;
#       }
# 
#       /** \brief Get the color threshold between neighboring points, to be considered part of the same plane. */
#       inline float
#       getColorThreshold () const
#       {
#         return (color_threshold_);
#       }
# 
#       /** \brief Compare two neighboring points, by using normal information, euclidean distance, and color information.
#         * \param[in] idx1 The index of the first point.
#         * \param[in] idx2 The index of the second point.
#         */
#       bool
#       compare (int idx1, int idx2) const
#       {
#         float dx = input_->points[idx1].x - input_->points[idx2].x;
#         float dy = input_->points[idx1].y - input_->points[idx2].y;
#         float dz = input_->points[idx1].z - input_->points[idx2].z;
#         float dist = sqrtf (dx*dx + dy*dy + dz*dz);
#         int dr = input_->points[idx1].r - input_->points[idx2].r;
#         int dg = input_->points[idx1].g - input_->points[idx2].g;
#         int db = input_->points[idx1].b - input_->points[idx2].b;
#         //Note: This is not the best metric for color comparisons, we should probably use HSV space.
#         float color_dist = static_cast<float> (dr*dr + dg*dg + db*db);
#         return ( (dist < distance_threshold_)
#                  && (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ )
#                  && (color_dist < color_threshold_));
#       }


###

# segment_differences.h
# namespace pcl
# /** \brief Obtain the difference between two aligned point clouds as another point cloud, given a distance threshold.
#   * \param src the input point cloud source
#   * \param tgt the input point cloud target we need to obtain the difference against
#   * \param threshold the distance threshold (tolerance) for point correspondences. (e.g., check if f a point p1 from 
#   * src has a correspondence > threshold than a point p2 from tgt)
#   * \param tree the spatial locator (e.g., kd-tree) used for nearest neighbors searching built over \a tgt
#   * \param output the resultant output point cloud difference
#   * \ingroup segmentation
#   */
# template <typename PointT> 
# void getPointCloudDifference (
#     const pcl::PointCloud<PointT> &src, const pcl::PointCloud<PointT> &tgt, 
#     double threshold, const boost::shared_ptr<pcl::search::Search<PointT> > &tree,
#     pcl::PointCloud<PointT> &output);

# segment_differences.h
# namespace pcl
# /** \brief @b SegmentDifferences obtains the difference between two spatially
#   * aligned point clouds and returns the difference between them for a maximum
#   * given distance threshold.
#   * \author Radu Bogdan Rusu
#   * \ingroup segmentation
#   */
# template <typename PointT>
# class SegmentDifferences: public PCLBase<PointT>
#     typedef PCLBase<PointT> BasePCLBase;
# 
#     public:
#       typedef pcl::PointCloud<PointT> PointCloud;
#       typedef typename PointCloud::Ptr PointCloudPtr;
#       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
# 
#       typedef typename pcl::search::Search<PointT> KdTree;
#       typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
# 
#       typedef PointIndices::Ptr PointIndicesPtr;
#       typedef PointIndices::ConstPtr PointIndicesConstPtr;
# 
#       /** \brief Empty constructor. */
#       SegmentDifferences ()
# 
#       /** \brief Provide a pointer to the target dataset against which we
#         * compare the input cloud given in setInputCloud
#         * \param cloud the target PointCloud dataset
#       inline void setTargetCloud (const PointCloudConstPtr &cloud)
# 
#       /** \brief Get a pointer to the input target point cloud dataset. */
#       inline PointCloudConstPtr const getTargetCloud ()
#       /** \brief Provide a pointer to the search object.
#         * \param tree a pointer to the spatial search object.
#       inline void setSearchMethod (const KdTreePtr &tree)
#       /** \brief Get a pointer to the search method used. */
#       inline KdTreePtr getSearchMethod ()
#       /** \brief Set the maximum distance tolerance (squared) between corresponding
#         * points in the two input datasets.
#         * \param sqr_threshold the squared distance tolerance as a measure in L2 Euclidean space
#       inline void setDistanceThreshold (double sqr_threshold)
#       /** \brief Get the squared distance tolerance between corresponding points as a
#         * measure in the L2 Euclidean space.
#       inline double getDistanceThreshold ()
# 
#       /** \brief Segment differences between two input point clouds.
#         * \param output the resultant difference between the two point clouds as a PointCloud
#         */
#       void segment (PointCloud &output);
#       protected:
#       // Members derived from the base class
#       using BasePCLBase::input_;
#       using BasePCLBase::indices_;
#       using BasePCLBase::initCompute;
#       using BasePCLBase::deinitCompute;
#       /** \brief A pointer to the spatial search object. */
#       KdTreePtr tree_;
#       /** \brief The input target point cloud dataset. */
#       PointCloudConstPtr target_;
#       /** \brief The distance tolerance (squared) as a measure in the L2
#         * Euclidean space between corresponding points. 
#         */
#       double distance_threshold_;
#       /** \brief Class getName method. */
#       virtual std::string getClassName () const { return ("SegmentDifferences"); }
###

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# Enum
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# Activation
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