Point Cloud Library (PCL)
1.7.2
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EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. More...
#include <pcl/segmentation/euclidean_plane_coefficient_comparator.h>
Public Member Functions | |
EuclideanPlaneCoefficientComparator () | |
Empty constructor for PlaneCoefficientComparator. More... | |
virtual | ~EuclideanPlaneCoefficientComparator () |
Destructor for PlaneCoefficientComparator. More... | |
virtual bool | compare (int idx1, int idx2) const |
Compare two neighboring points, by using normal information, and euclidean distance information. 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... | |
Additional Inherited Members | |
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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_ |
EuclideanPlaneCoefficientComparator 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 euclidean_plane_coefficient_comparator.h.
typedef boost::shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> > pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::ConstPtr |
Definition at line 65 of file euclidean_plane_coefficient_comparator.h.
typedef Comparator<PointT>::PointCloud pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloud |
Definition at line 58 of file euclidean_plane_coefficient_comparator.h.
typedef Comparator<PointT>::PointCloudConstPtr pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudConstPtr |
Definition at line 59 of file euclidean_plane_coefficient_comparator.h.
typedef pcl::PointCloud<PointNT> pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudN |
Definition at line 60 of file euclidean_plane_coefficient_comparator.h.
typedef PointCloudN::ConstPtr pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudNConstPtr |
Definition at line 62 of file euclidean_plane_coefficient_comparator.h.
typedef PointCloudN::Ptr pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudNPtr |
Definition at line 61 of file euclidean_plane_coefficient_comparator.h.
typedef boost::shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> > pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::Ptr |
Definition at line 64 of file euclidean_plane_coefficient_comparator.h.
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inline |
Empty constructor for PlaneCoefficientComparator.
Definition at line 73 of file euclidean_plane_coefficient_comparator.h.
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inlinevirtual |
Destructor for PlaneCoefficientComparator.
Definition at line 79 of file euclidean_plane_coefficient_comparator.h.
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inlinevirtual |
Compare two neighboring points, by using normal information, and euclidean distance information.
[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 88 of file euclidean_plane_coefficient_comparator.h.
References pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_, pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_, pcl::Comparator< PointT >::input_, and pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_.