Point Cloud Library (PCL)
1.7.1
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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 Member Functions | |
PlaneRefinementComparator () | |
Empty constructor for PlaneCoefficientComparator. More... | |
PlaneRefinementComparator (boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &models, boost::shared_ptr< std::vector< bool > > &refine_labels) | |
Empty constructor for PlaneCoefficientComparator. More... | |
virtual | ~PlaneRefinementComparator () |
Destructor for PlaneCoefficientComparator. More... | |
void | setModelCoefficients (boost::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 (boost::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 (boost::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... | |
boost::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... | |
virtual bool | compare (int idx1, int idx2) const |
Compare two neighboring points. More... | |
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PlaneCoefficientComparator () | |
Empty constructor for PlaneCoefficientComparator. More... | |
PlaneCoefficientComparator (boost::shared_ptr< std::vector< float > > &plane_coeff_d) | |
Constructor for PlaneCoefficientComparator. More... | |
virtual | ~PlaneCoefficientComparator () |
Destructor for PlaneCoefficientComparator. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
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 (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. 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... | |
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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 | |
boost::shared_ptr< std::vector < pcl::ModelCoefficients > > | models_ |
PointCloudLPtr | labels_ |
boost::shared_ptr< std::vector < bool > > | refine_labels_ |
boost::shared_ptr< std::vector < int > > | label_to_model_ |
bool | depth_dependent_ |
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PointCloudNConstPtr | normals_ |
boost::shared_ptr< std::vector < float > > | plane_coeff_d_ |
float | angular_threshold_ |
float | distance_threshold_ |
bool | depth_dependent_ |
Eigen::Vector3f | z_axis_ |
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PointCloudConstPtr | input_ |
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.
Definition at line 55 of file plane_refinement_comparator.h.
typedef boost::shared_ptr<const PlaneRefinementComparator<PointT, PointNT, PointLT> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::ConstPtr |
Definition at line 70 of file plane_refinement_comparator.h.
typedef Comparator<PointT>::PointCloud pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloud |
Definition at line 58 of file plane_refinement_comparator.h.
typedef Comparator<PointT>::PointCloudConstPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudConstPtr |
Definition at line 59 of file plane_refinement_comparator.h.
typedef pcl::PointCloud<PointLT> pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudL |
Definition at line 65 of file plane_refinement_comparator.h.
typedef PointCloudL::ConstPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudLConstPtr |
Definition at line 67 of file plane_refinement_comparator.h.
typedef PointCloudL::Ptr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudLPtr |
Definition at line 66 of file plane_refinement_comparator.h.
typedef pcl::PointCloud<PointNT> pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudN |
Definition at line 61 of file plane_refinement_comparator.h.
typedef PointCloudN::ConstPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudNConstPtr |
Definition at line 63 of file plane_refinement_comparator.h.
typedef PointCloudN::Ptr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudNPtr |
Definition at line 62 of file plane_refinement_comparator.h.
typedef boost::shared_ptr<PlaneRefinementComparator<PointT, PointNT, PointLT> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::Ptr |
Definition at line 69 of file plane_refinement_comparator.h.
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Empty constructor for PlaneCoefficientComparator.
Definition at line 79 of file plane_refinement_comparator.h.
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Empty constructor for PlaneCoefficientComparator.
[in] | models | |
[in] | refine_labels |
Definition at line 92 of file plane_refinement_comparator.h.
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Destructor for PlaneCoefficientComparator.
Definition at line 104 of file plane_refinement_comparator.h.
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Compare two neighboring points.
[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 183 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::depth_dependent_, pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_, pcl::Comparator< PointT >::input_, pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::labels_, pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_, pcl::ModelCoefficients::values, and pcl::PlaneCoefficientComparator< PointT, PointNT >::z_axis_.
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Get the vector of model coefficients to which we will compare.
Definition at line 164 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.
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[in] | labels |
Definition at line 173 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::labels_.
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A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.
[in] | label_to_model | A vector of size max_label, with the index of each corresponding model in models |
Definition at line 148 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_.
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A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.
[in] | label_to_model | A vector of size max_label, with the index of each corresponding model in models |
Definition at line 157 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_.
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Set the vector of model coefficients to which we will compare.
[in] | models | a vector of model coefficients produced by the initial segmentation step. |
Definition at line 112 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.
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Set the vector of model coefficients to which we will compare.
[in] | models | a vector of model coefficients produced by the initial segmentation step. |
Definition at line 121 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.
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Set which labels should be refined.
This is a vector of bools 0-max_label, true if the label should be refined.
[in] | refine_labels | A vector of bools 0-max_label, true if the label should be refined. |
Definition at line 130 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_.
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Set which labels should be refined.
This is a vector of bools 0-max_label, true if the label should be refined.
[in] | refine_labels | A vector of bools 0-max_label, true if the label should be refined. |
Definition at line 139 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_.
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Definition at line 218 of file plane_refinement_comparator.h.
Referenced by pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::compare().
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Definition at line 217 of file plane_refinement_comparator.h.
Referenced by pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel().
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Definition at line 215 of file plane_refinement_comparator.h.
Referenced by pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::compare(), and pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabels().
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Definition at line 214 of file plane_refinement_comparator.h.
Referenced by pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::getModelCoefficients(), and pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients().
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Definition at line 216 of file plane_refinement_comparator.h.
Referenced by pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::compare(), and pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels().