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

#include <pcl/segmentation/plane_refinement_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 PointCloudL = pcl::PointCloud< PointLT >
using PointCloudLPtr = typename PointCloudL::Ptr
using PointCloudLConstPtr = typename PointCloudL::ConstPtr
using Ptr = shared_ptr< PlaneRefinementComparator< PointT, PointNT, PointLT > >
using ConstPtr = shared_ptr< const PlaneRefinementComparator< PointT, PointNT, PointLT > >
- 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

PlaneRefinementComparator ()
Empty constructor for PlaneCoefficientComparator. More...
PlaneRefinementComparator (shared_ptr< std::vector< pcl::ModelCoefficients > > &models, shared_ptr< std::vector< bool > > &refine_labels)
Empty constructor for PlaneCoefficientComparator. More...
~PlaneRefinementComparator ()
Destructor for PlaneCoefficientComparator. More...
void setModelCoefficients (shared_ptr< std::vector< pcl::ModelCoefficients > > &models)
Set the vector of model coefficients to which we will compare. More...
void setModelCoefficients (std::vector< pcl::ModelCoefficients > &models)
Set the vector of model coefficients to which we will compare. More...
void setRefineLabels (shared_ptr< std::vector< bool > > &refine_labels)
Set which labels should be refined. More...
void setRefineLabels (std::vector< bool > &refine_labels)
Set which labels should be refined. More...
void setLabelToModel (shared_ptr< std::vector< int > > &label_to_model)
A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed. More...
void setLabelToModel (std::vector< int > &label_to_model)
A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed. More...
shared_ptr< std::vector< pcl::ModelCoefficients > > getModelCoefficients () const
Get the vector of model coefficients to which we will compare. More...
void setLabels (PointCloudLPtr &labels)
... More...
bool compare (int idx1, int idx2) const override
Compare two neighboring points. 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...
- 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

shared_ptr< std::vector< pcl::ModelCoefficients > > models_
PointCloudLPtr labels_
shared_ptr< std::vector< bool > > refine_labels_
shared_ptr< std::vector< int > > label_to_model_
bool depth_dependent_
- 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, typename PointLT>
class pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >

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

Definition at line 54 of file plane_refinement_comparator.h.

Member Typedef Documentation

ConstPtr

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

Definition at line 69 of file plane_refinement_comparator.h.

PointCloud

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

Definition at line 57 of file plane_refinement_comparator.h.

PointCloudConstPtr

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

Definition at line 58 of file plane_refinement_comparator.h.

PointCloudL

template<typename PointT , typename PointNT , typename PointLT >
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudL = pcl::PointCloud<PointLT>

Definition at line 64 of file plane_refinement_comparator.h.

PointCloudLConstPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudLConstPtr = typename PointCloudL::ConstPtr

Definition at line 66 of file plane_refinement_comparator.h.

PointCloudLPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudLPtr = typename PointCloudL::Ptr

Definition at line 65 of file plane_refinement_comparator.h.

PointCloudN

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

Definition at line 60 of file plane_refinement_comparator.h.

PointCloudNConstPtr

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

Definition at line 62 of file plane_refinement_comparator.h.

PointCloudNPtr

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

Definition at line 61 of file plane_refinement_comparator.h.

Ptr

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

Definition at line 68 of file plane_refinement_comparator.h.

Constructor & Destructor Documentation

PlaneRefinementComparator() [1/2]

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

Empty constructor for PlaneCoefficientComparator.

Definition at line 78 of file plane_refinement_comparator.h.

PlaneRefinementComparator() [2/2]

template<typename PointT , typename PointNT , typename PointLT >
pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PlaneRefinementComparator ( shared_ptr< std::vector< pcl::ModelCoefficients > > & models,
shared_ptr< std::vector< bool > > & refine_labels
)
inline

Empty constructor for PlaneCoefficientComparator.

Parameters
[in] models
[in] refine_labels

Definition at line 88 of file plane_refinement_comparator.h.

~PlaneRefinementComparator()

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

Destructor for PlaneCoefficientComparator.

Definition at line 98 of file plane_refinement_comparator.h.

Member Function Documentation

compare()

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

getModelCoefficients()

template<typename PointT , typename PointNT , typename PointLT >
shared_ptr<std::vector<pcl::ModelCoefficients> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::getModelCoefficients ( ) const
inline

Get the vector of model coefficients to which we will compare.

Definition at line 158 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.

setLabels()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabels ( PointCloudLPtr & labels )
inline

...

Parameters
[in] labels

Definition at line 167 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::labels_.

setLabelToModel() [1/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel ( shared_ptr< std::vector< int > > & label_to_model )
inline

A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.

Parameters
[in] label_to_model A vector of size max_label, with the index of each corresponding model in models

Definition at line 142 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_.

setLabelToModel() [2/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel ( std::vector< int > & label_to_model )
inline

A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.

Parameters
[in] label_to_model A vector of size max_label, with the index of each corresponding model in models

Definition at line 151 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_.

setModelCoefficients() [1/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients ( shared_ptr< std::vector< pcl::ModelCoefficients > > & models )
inline

Set the vector of model coefficients to which we will compare.

Parameters
[in] models a vector of model coefficients produced by the initial segmentation step.

Definition at line 106 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.

setModelCoefficients() [2/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients ( std::vector< pcl::ModelCoefficients > & models )
inline

Set the vector of model coefficients to which we will compare.

Parameters
[in] models a vector of model coefficients produced by the initial segmentation step.

Definition at line 115 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.

setRefineLabels() [1/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels ( shared_ptr< std::vector< bool > > & refine_labels )
inline

Set which labels should be refined.

This is a vector of bools 0-max_label, true if the label should be refined.

Parameters
[in] refine_labels A vector of bools 0-max_label, true if the label should be refined.

Definition at line 124 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_.

setRefineLabels() [2/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels ( std::vector< bool > & refine_labels )
inline

Set which labels should be refined.

This is a vector of bools 0-max_label, true if the label should be refined.

Parameters
[in] refine_labels A vector of bools 0-max_label, true if the label should be refined.

Definition at line 133 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_.

Member Data Documentation

depth_dependent_

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

label_to_model_

template<typename PointT , typename PointNT , typename PointLT >
shared_ptr<std::vector<int> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_
protected

labels_

template<typename PointT , typename PointNT , typename PointLT >
PointCloudLPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::labels_
protected

models_

template<typename PointT , typename PointNT , typename PointLT >
shared_ptr<std::vector<pcl::ModelCoefficients> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_
protected

refine_labels_

template<typename PointT , typename PointNT , typename PointLT >
shared_ptr<std::vector<bool> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_
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_plane_refinement_comparator.html