Point Cloud Library (PCL)
1.9.1
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40 #ifndef PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
41 #define PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
44 #include <pcl/segmentation/boost.h>
45 #include <pcl/segmentation/comparator.h>
54 template<
typename Po
intT,
typename Po
intNT>
65 typedef boost::shared_ptr<PlaneCoefficientComparator<PointT, PointNT> >
Ptr;
66 typedef boost::shared_ptr<const PlaneCoefficientComparator<PointT, PointNT> >
ConstPtr;
137 plane_coeff_d_ = boost::make_shared<std::vector<float> >(plane_coeff_d);
141 const std::vector<float>&
169 bool depth_dependent =
false)
193 Eigen::Vector3f vec =
input_->points[idx1].getVector3fMap ();
211 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
215 #endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
PointCloudN::Ptr PointCloudNPtr
This file defines compatibility wrappers for low level I/O functions.
PointCloud::ConstPtr PointCloudConstPtr
boost::shared_ptr< PointCloud< PointNT > > Ptr
virtual ~PlaneCoefficientComparator()
Destructor for PlaneCoefficientComparator.
boost::shared_ptr< PlaneCoefficientComparator< PointT, PointNT > > Ptr
Comparator< PointT >::PointCloudConstPtr PointCloudConstPtr
PlaneCoefficientComparator(boost::shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for PlaneCoefficientComparator.
Comparator< PointT >::PointCloud PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
PlaneCoefficientComparator()
Empty constructor for PlaneCoefficientComparator.
float distance_threshold_
PointCloudNConstPtr normals_
virtual bool compare(int idx1, int idx2) const
Compare points at two indices by their plane equations.
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Comparator is the base class for comparators that compare two points given some function.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud for the comparator.
const std::vector< float > & getPlaneCoeffD() const
Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.
float getAngularThreshold() const
Get the angular threshold in radians for difference in normal direction between neighboring points,...
boost::shared_ptr< const PlaneCoefficientComparator< PointT, PointNT > > ConstPtr
boost::shared_ptr< const PointCloud< PointNT > > ConstPtr
PointCloudNConstPtr getInputNormals() const
Get the input normals.
PointCloudN::ConstPtr PointCloudNConstPtr
void setDistanceThreshold(float distance_threshold, bool depth_dependent=false)
Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...
void setPlaneCoeffD(std::vector< float > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
PointCloudConstPtr input_
void setPlaneCoeffD(boost::shared_ptr< std::vector< float > > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
boost::shared_ptr< std::vector< float > > plane_coeff_d_
float getDistanceThreshold() const
Get the distance threshold in meters (d component of plane equation) between neighboring points,...
pcl::PointCloud< PointNT > PointCloudN
virtual void setAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points,...
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...