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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

Compare two neighboring points.

Parameters

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

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 177 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::depth_dependent_, pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_, pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_, pcl::ModelCoefficients::values, and pcl::PlaneCoefficientComparator< PointT, PointNT >::z_axis_.

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 )