W3cubDocs

/PointCloudLibrary

GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving. More...

#include <pcl/segmentation/ground_plane_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< GroundPlaneComparator< PointT, PointNT > >
using ConstPtr = shared_ptr< const GroundPlaneComparator< 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

GroundPlaneComparator ()
Empty constructor for GroundPlaneComparator. More...
GroundPlaneComparator (shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for GroundPlaneComparator. More...
~GroundPlaneComparator ()
Destructor for GroundPlaneComparator. More...
void setInputCloud (const PointCloudConstPtr &cloud) override
Provide the input cloud. 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...
virtual void setGroundAngularThreshold (float angular_threshold)
Set the tolerance in radians for difference in normal direction between a point and the expected ground normal. More...
void setExpectedGroundNormal (Eigen::Vector3f normal)
Set the expected ground plane normal with respect to the sensor. 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...

Protected Attributes

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

Detailed Description

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

GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving.

In conjunction with OrganizedConnectedComponentSegmentation, this allows smooth groundplanes / road surfaces to be segmented from point clouds.

Author
Alex Trevor

Definition at line 56 of file ground_plane_comparator.h.

Member Typedef Documentation

ConstPtr

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

Definition at line 67 of file ground_plane_comparator.h.

PointCloud

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

Definition at line 59 of file ground_plane_comparator.h.

PointCloudConstPtr

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

Definition at line 60 of file ground_plane_comparator.h.

PointCloudN

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

Definition at line 62 of file ground_plane_comparator.h.

PointCloudNConstPtr

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

Definition at line 64 of file ground_plane_comparator.h.

PointCloudNPtr

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

Definition at line 63 of file ground_plane_comparator.h.

Ptr

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

Definition at line 66 of file ground_plane_comparator.h.

Constructor & Destructor Documentation

GroundPlaneComparator() [1/2]

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

Empty constructor for GroundPlaneComparator.

Definition at line 72 of file ground_plane_comparator.h.

GroundPlaneComparator() [2/2]

template<typename PointT , typename PointNT >
pcl::GroundPlaneComparator< PointT, PointNT >::GroundPlaneComparator ( shared_ptr< std::vector< float > > & plane_coeff_d )
inline

Constructor for GroundPlaneComparator.

Parameters
[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.

Definition at line 86 of file ground_plane_comparator.h.

~GroundPlaneComparator()

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

Destructor for GroundPlaneComparator.

Definition at line 100 of file ground_plane_comparator.h.

Member Function Documentation

compare()

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

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

Parameters
idx1 The first index for the comparison
idx2 The second index for the comparison

Implements pcl::Comparator< PointT >.

Definition at line 213 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_, pcl::GroundPlaneComparator< PointT, PointNT >::depth_dependent_, pcl::GroundPlaneComparator< PointT, PointNT >::desired_road_axis_, pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_, pcl::GroundPlaneComparator< PointT, PointNT >::normals_, pcl::GroundPlaneComparator< PointT, PointNT >::road_angular_threshold_, and pcl::GroundPlaneComparator< PointT, PointNT >::z_axis_.

getAngularThreshold()

template<typename PointT , typename PointNT >
float pcl::GroundPlaneComparator< PointT, PointNT >::getAngularThreshold ( ) const
inline

Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Definition at line 183 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_.

getDistanceThreshold()

template<typename PointT , typename PointNT >
float pcl::GroundPlaneComparator< PointT, PointNT >::getDistanceThreshold ( ) const
inline

Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane.

Definition at line 202 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_.

getInputNormals()

template<typename PointT , typename PointNT >
PointCloudNConstPtr pcl::GroundPlaneComparator< PointT, PointNT >::getInputNormals ( ) const
inline

Get the input normals.

Definition at line 123 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::normals_.

getPlaneCoeffD()

template<typename PointT , typename PointNT >
const std::vector<float>& pcl::GroundPlaneComparator< PointT, PointNT >::getPlaneCoeffD ( ) const
inline

Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.

Definition at line 148 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_.

setAngularThreshold()

template<typename PointT , typename PointNT >
virtual void pcl::GroundPlaneComparator< PointT, PointNT >::setAngularThreshold ( float angular_threshold )
inlinevirtual

Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Parameters
[in] angular_threshold the tolerance in radians

Definition at line 157 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_.

setDistanceThreshold()

template<typename PointT , typename PointNT >
void pcl::GroundPlaneComparator< PointT, PointNT >::setDistanceThreshold ( float distance_threshold,
bool depth_dependent = false
)
inline

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.

Parameters
[in] distance_threshold the tolerance in meters (at 1m)
[in] depth_dependent whether to scale the threshold based on range from the sensor (default: false)

Definition at line 193 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::depth_dependent_, and pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_.

setExpectedGroundNormal()

template<typename PointT , typename PointNT >
void pcl::GroundPlaneComparator< PointT, PointNT >::setExpectedGroundNormal ( Eigen::Vector3f normal )
inline

Set the expected ground plane normal with respect to the sensor.

Pixels labeled as ground must be within ground_angular_threshold radians of this normal to be labeled as ground.

Parameters
[in] normal The normal direction of the expected ground plane.

Definition at line 175 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::desired_road_axis_.

setGroundAngularThreshold()

template<typename PointT , typename PointNT >
virtual void pcl::GroundPlaneComparator< PointT, PointNT >::setGroundAngularThreshold ( float angular_threshold )
inlinevirtual

Set the tolerance in radians for difference in normal direction between a point and the expected ground normal.

Parameters
[in] angular_threshold the

Definition at line 166 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::road_angular_threshold_.

setInputCloud()

template<typename PointT , typename PointNT >
void pcl::GroundPlaneComparator< PointT, PointNT >::setInputCloud ( const PointCloudConstPtr & cloud )
inlineoverridevirtual

Provide the input cloud.

Parameters
[in] cloud the input point cloud.

Reimplemented from pcl::Comparator< PointT >.

Definition at line 107 of file ground_plane_comparator.h.

References pcl::Comparator< PointT >::input_.

setInputNormals()

template<typename PointT , typename PointNT >
void pcl::GroundPlaneComparator< PointT, PointNT >::setInputNormals ( const PointCloudNConstPtr & normals )
inline

Provide a pointer to the input normals.

Parameters
[in] normals the input normal cloud.

Definition at line 116 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::normals_.

setPlaneCoeffD() [1/2]

template<typename PointT , typename PointNT >
void pcl::GroundPlaneComparator< PointT, PointNT >::setPlaneCoeffD ( shared_ptr< std::vector< float > > & plane_coeff_d )
inline

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.

Parameters
[in] plane_coeff_d a pointer to the plane coefficients.

Definition at line 132 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_.

setPlaneCoeffD() [2/2]

template<typename PointT , typename PointNT >
void pcl::GroundPlaneComparator< PointT, PointNT >::setPlaneCoeffD ( std::vector< float > & plane_coeff_d )
inline

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.

Parameters
[in] plane_coeff_d a pointer to the plane coefficients.

Definition at line 141 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_.

Member Data Documentation

angular_threshold_

depth_dependent_

template<typename PointT , typename PointNT >
bool pcl::GroundPlaneComparator< PointT, PointNT >::depth_dependent_
protected

desired_road_axis_

template<typename PointT , typename PointNT >
Eigen::Vector3f pcl::GroundPlaneComparator< PointT, PointNT >::desired_road_axis_
protected

distance_threshold_

normals_

plane_coeff_d_

template<typename PointT , typename PointNT >
shared_ptr<std::vector<float> > pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_
protected

road_angular_threshold_

template<typename PointT , typename PointNT >
float pcl::GroundPlaneComparator< PointT, PointNT >::road_angular_threshold_
protected

z_axis_

template<typename PointT , typename PointNT >
Eigen::Vector3f pcl::GroundPlaneComparator< PointT, PointNT >::z_axis_
protected

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_ground_plane_comparator.html