W3cubDocs

/PointCloudLibrary

EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. More...

#include <pcl/segmentation/euclidean_plane_coefficient_comparator.h>

Public Types

using PointCloud = typename Comparator< PointT >::PointCloud
using PointCloudConstPtr = typename Comparator< PointT >::PointCloudConstPtr
using PointCloudN = pcl::PointCloud< PointNT >
using PointCloudNPtr = typename PointCloudN::Ptr
using PointCloudNConstPtr = typename PointCloudN::ConstPtr
using Ptr = shared_ptr< EuclideanPlaneCoefficientComparator< PointT, PointNT > >
using ConstPtr = shared_ptr< const EuclideanPlaneCoefficientComparator< PointT, PointNT > >
- Public Types inherited from pcl::PlaneCoefficientComparator< PointT, PointNT >
using PointCloud = typename Comparator< PointT >::PointCloud
using PointCloudConstPtr = typename Comparator< PointT >::PointCloudConstPtr
using PointCloudN = pcl::PointCloud< PointNT >
using PointCloudNPtr = typename PointCloudN::Ptr
using PointCloudNConstPtr = typename PointCloudN::ConstPtr
using Ptr = shared_ptr< PlaneCoefficientComparator< PointT, PointNT > >
using ConstPtr = shared_ptr< const PlaneCoefficientComparator< PointT, PointNT > >
- Public Types inherited from pcl::Comparator< PointT >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using Ptr = shared_ptr< Comparator< PointT > >
using ConstPtr = shared_ptr< const Comparator< PointT > >

Public Member Functions

EuclideanPlaneCoefficientComparator ()
Empty constructor for PlaneCoefficientComparator. More...
~EuclideanPlaneCoefficientComparator ()
Destructor for PlaneCoefficientComparator. More...
bool compare (int idx1, int idx2) const override
Compare two neighboring points, by using normal information, and euclidean distance information. More...
- Public Member Functions inherited from pcl::PlaneCoefficientComparator< PointT, PointNT >
PlaneCoefficientComparator ()
Empty constructor for PlaneCoefficientComparator. More...
PlaneCoefficientComparator (shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for PlaneCoefficientComparator. More...
~PlaneCoefficientComparator ()
Destructor for PlaneCoefficientComparator. More...
void setInputCloud (const PointCloudConstPtr &cloud) override
Set the input cloud for the comparator. More...
void setInputNormals (const PointCloudNConstPtr &normals)
Provide a pointer to the input normals. More...
PointCloudNConstPtr getInputNormals () const
Get the input normals. More...
void setPlaneCoeffD (shared_ptr< std::vector< float > > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. More...
void setPlaneCoeffD (std::vector< float > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. More...
const std::vector< float > & getPlaneCoeffD () const
Get a pointer to the vector of the d-coefficient of the planes' hessian normal form. More...
virtual void setAngularThreshold (float angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. More...
float getAngularThreshold () const
Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. More...
void setDistanceThreshold (float distance_threshold, bool depth_dependent=false)
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. More...
float getDistanceThreshold () const
Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. More...
bool compare (int idx1, int idx2) const override
Compare points at two indices by their plane equations. More...
- Public Member Functions inherited from pcl::Comparator< PointT >
Comparator ()
Empty constructor for comparator. More...
virtual ~Comparator ()
Empty destructor for comparator. More...
virtual PointCloudConstPtr getInputCloud () const
Get the input cloud this comparator operates on. More...

Additional Inherited Members

- Protected Attributes inherited from pcl::PlaneCoefficientComparator< PointT, PointNT >
PointCloudNConstPtr normals_
shared_ptr< std::vector< float > > plane_coeff_d_
float angular_threshold_
float distance_threshold_
bool depth_dependent_
Eigen::Vector3f z_axis_
- Protected Attributes inherited from pcl::Comparator< PointT >
PointCloudConstPtr input_

Detailed Description

template<typename PointT, typename PointNT>
class pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >

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

Definition at line 53 of file euclidean_plane_coefficient_comparator.h.

Member Typedef Documentation

ConstPtr

template<typename PointT , typename PointNT >
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::ConstPtr = shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> >

Definition at line 63 of file euclidean_plane_coefficient_comparator.h.

PointCloud

template<typename PointT , typename PointNT >
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloud = typename Comparator<PointT>::PointCloud

Definition at line 56 of file euclidean_plane_coefficient_comparator.h.

PointCloudConstPtr

template<typename PointT , typename PointNT >
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudConstPtr = typename Comparator<PointT>::PointCloudConstPtr

Definition at line 57 of file euclidean_plane_coefficient_comparator.h.

PointCloudN

template<typename PointT , typename PointNT >
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudN = pcl::PointCloud<PointNT>

Definition at line 58 of file euclidean_plane_coefficient_comparator.h.

PointCloudNConstPtr

template<typename PointT , typename PointNT >
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr

Definition at line 60 of file euclidean_plane_coefficient_comparator.h.

PointCloudNPtr

template<typename PointT , typename PointNT >
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudNPtr = typename PointCloudN::Ptr

Definition at line 59 of file euclidean_plane_coefficient_comparator.h.

Ptr

template<typename PointT , typename PointNT >
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::Ptr = shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> >

Definition at line 62 of file euclidean_plane_coefficient_comparator.h.

Constructor & Destructor Documentation

EuclideanPlaneCoefficientComparator()

template<typename PointT , typename PointNT >
pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::EuclideanPlaneCoefficientComparator ( )
inline

Empty constructor for PlaneCoefficientComparator.

Definition at line 71 of file euclidean_plane_coefficient_comparator.h.

~EuclideanPlaneCoefficientComparator()

template<typename PointT , typename PointNT >
pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::~EuclideanPlaneCoefficientComparator ( )
inline

Destructor for PlaneCoefficientComparator.

Definition at line 77 of file euclidean_plane_coefficient_comparator.h.

Member Function Documentation

compare()

template<typename PointT , typename PointNT >
bool pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::compare ( int idx1,
int idx2
) const
inlineoverridevirtual

Compare two neighboring points, by using normal information, and euclidean distance information.

Parameters
[in] idx1 The index of the first point.
[in] idx2 The index of the second point.

Implements pcl::Comparator< PointT >.

Definition at line 86 of file euclidean_plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_, pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_, and pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_.


The documentation for this class was generated from the following file:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_euclidean_plane_coefficient_comparator.html