OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of plane equations, as well as a vector of point clouds corresponding to the inliers of each detected plane. Only planes with more than min_inliers points are detected. Templated on point type, normal type, and label type. More...

#include <organized_multi_plane_segmentation.h>

Inheritance diagram for pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >:

[legend]

List of all members.

Public Types
typedef pcl::PlaneCoefficientComparator < PointT, PointNT >	PlaneComparator
typedef PlaneComparator::ConstPtr	PlaneComparatorConstPtr
typedef PlaneComparator::Ptr	PlaneComparatorPtr
typedef pcl::PlaneRefinementComparator < PointT, PointNT, PointLT >	PlaneRefinementComparator
typedef PlaneRefinementComparator::ConstPtr	PlaneRefinementComparatorConstPtr
typedef PlaneRefinementComparator::Ptr	PlaneRefinementComparatorPtr
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef pcl::PointCloud< PointLT >	PointCloudL
typedef PointCloudL::ConstPtr	PointCloudLConstPtr
typedef PointCloudL::Ptr	PointCloudLPtr
typedef pcl::PointCloud< PointNT >	PointCloudN
typedef PointCloudN::ConstPtr	PointCloudNConstPtr
typedef PointCloudN::Ptr	PointCloudNPtr
typedef PointCloud::Ptr	PointCloudPtr
Public Member Functions
double	getAngularThreshold () const
	Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
double	getDistanceThreshold () const
	Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane.
PointCloudNConstPtr	getInputNormals () const
	Get the input normals.
double	getMaximumCurvature () const
	Get the maximum curvature allowed for a planar region.
unsigned	getMinInliers () const
	Get the minimum number of inliers required per plane.
	OrganizedMultiPlaneSegmentation ()
	Constructor for OrganizedMultiPlaneSegmentation.
void	refine (std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &centroids, std::vector< Eigen::Matrix3f, Eigen::aligned_allocator< Eigen::Matrix3f > > &covariances, PointCloudLPtr &labels, std::vector< pcl::PointIndices > &label_indices)
	Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.
void	segment (std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &centroids, std::vector< Eigen::Matrix3f, Eigen::aligned_allocator< Eigen::Matrix3f > > &covariances, pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices)
	Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
void	segment (std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices)
	Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
void	segment (std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions)
	Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
void	segmentAndRefine (std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions)
	Perform a segmentation, as well as an additional refinement step. This helps with including points whose normals may not match neighboring points well, but may match the planar model well.
void	segmentAndRefine (std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions, std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, PointCloudLPtr &labels, std::vector< pcl::PointIndices > &label_indices, std::vector< pcl::PointIndices > &boundary_indices)
	Perform a segmentation, as well as additional refinement step. Returns intermediate data structures for use in subsequent processing.
void	setAngularThreshold (double angular_threshold)
	Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
void	setComparator (const PlaneComparatorPtr &compare)
	Provide a pointer to the comparator to be used for segmentation.
void	setDistanceThreshold (double distance_threshold)
	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.
void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input normals.
void	setMaximumCurvature (double maximum_curvature)
	Set the maximum curvature allowed for a planar region.
void	setMinInliers (unsigned min_inliers)
	Set the minimum number of inliers required for a plane.
void	setProjectPoints (bool project_points)
	Set whether or not to project boundary points to the plane, or leave them in the original 3D space.
void	setRefinementComparator (const PlaneRefinementComparatorPtr &compare)
	Provide a pointer to the comparator to be used for refinement.
virtual	~OrganizedMultiPlaneSegmentation ()
	Destructor for OrganizedMultiPlaneSegmentation.
Protected Member Functions
virtual std::string	getClassName () const
	Class getName method.
Protected Attributes
double	angular_threshold_
	The tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
PlaneComparatorPtr	compare_
	A comparator for comparing neighboring pixels' plane equations.
double	distance_threshold_
	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.
double	maximum_curvature_
	The tolerance for maximum curvature after fitting a plane. Used to remove smooth, but non-planar regions.
unsigned	min_inliers_
	The minimum number of inliers required for each plane.
PointCloudNConstPtr	normals_
	A pointer to the input normals.
bool	project_points_
	Whether or not points should be projected to the plane, or left in the original 3D space.
PlaneRefinementComparatorPtr	refinement_compare_
	A comparator for use on the refinement step. Compares points to regions segmented in the first pass.

Detailed Description

template<typename PointT, typename PointNT, typename PointLT>
class pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >

OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of plane equations, as well as a vector of point clouds corresponding to the inliers of each detected plane. Only planes with more than min_inliers points are detected. Templated on point type, normal type, and label type.

Author:: Alex Trevor, Suat Gedikli

Definition at line 62 of file organized_multi_plane_segmentation.h.

Member Typedef Documentation

template<typename PointT, typename PointNT, typename PointLT>

typedef pcl::PlaneCoefficientComparator<PointT, PointNT> pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneComparator

Definition at line 82 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PlaneComparator::ConstPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneComparatorConstPtr

Definition at line 84 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PlaneComparator::Ptr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneComparatorPtr

Definition at line 83 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef pcl::PlaneRefinementComparator<PointT, PointNT, PointLT> pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneRefinementComparator

Definition at line 86 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PlaneRefinementComparator::ConstPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneRefinementComparatorConstPtr

Definition at line 88 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PlaneRefinementComparator::Ptr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneRefinementComparatorPtr

Definition at line 87 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef pcl::PointCloud<PointT> pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 70 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PointCloud::ConstPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 72 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef pcl::PointCloud<PointLT> pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudL

Definition at line 78 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PointCloudL::ConstPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudLConstPtr

Definition at line 80 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PointCloudL::Ptr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudLPtr

Definition at line 79 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef pcl::PointCloud<PointNT> pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudN

Definition at line 74 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PointCloudN::ConstPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudNConstPtr

Definition at line 76 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PointCloudN::Ptr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudNPtr

Definition at line 75 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PointCloud::Ptr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 71 of file organized_multi_plane_segmentation.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT, typename PointLT>

pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::OrganizedMultiPlaneSegmentation ( ) [inline]

Constructor for OrganizedMultiPlaneSegmentation.

Definition at line 91 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

virtual pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::~OrganizedMultiPlaneSegmentation ( ) [inline, virtual]

Destructor for OrganizedMultiPlaneSegmentation.

Definition at line 104 of file organized_multi_plane_segmentation.h.

Member Function Documentation

template<typename PointT, typename PointNT, typename PointLT>

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getAngularThreshold ( ) const [inline]

Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Definition at line 151 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

virtual std::string pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getClassName ( ) const [inline, protected, virtual]

Class getName method.

Definition at line 312 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getDistanceThreshold ( ) const [inline]

Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane.

Definition at line 167 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

PointCloudNConstPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getInputNormals ( ) const [inline]

Get the input normals.

Definition at line 119 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getMaximumCurvature ( ) const [inline]

Get the maximum curvature allowed for a planar region.

Definition at line 183 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

unsigned pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getMinInliers ( ) const [inline]

Get the minimum number of inliers required per plane.

Definition at line 135 of file organized_multi_plane_segmentation.h.

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::refine	(	std::vector< ModelCoefficients > &	model_coefficients,
		std::vector< PointIndices > &	inlier_indices,
		std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &	centroids,
		std::vector< Eigen::Matrix3f, Eigen::aligned_allocator< Eigen::Matrix3f > > &	covariances,
		PointCloudLPtr &	labels,
		std::vector< pcl::PointIndices > &	label_indices
	)

Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.

Parameters:

[in]	model_coefficients	The list of segmented model coefficients
[in]	inlier_indices	The list of segmented inlier indices, corresponding to each model
[in]	centroids	The list of centroids corresponding to each segmented plane
[in]	covariances	The list of covariances corresponding to each segemented plane
[in]	labels	The labels produced by the initial segmentation
[in]	label_indices	The list of indices corresponding to each label

Definition at line 319 of file organized_multi_plane_segmentation.hpp.

template<typename PointT , typename PointNT , typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment	(	std::vector< ModelCoefficients > &	model_coefficients,
		std::vector< PointIndices > &	inlier_indices,
		std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &	centroids,
		std::vector< Eigen::Matrix3f, Eigen::aligned_allocator< Eigen::Matrix3f > > &	covariances,
		pcl::PointCloud< PointLT > &	labels,
		std::vector< pcl::PointIndices > &	label_indices
	)

Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()

Parameters:

[out]	model_coefficients	a vector of model_coefficients for each plane found in the input cloud
[out]	inlier_indices	a vector of inliers for each detected plane
[out]	centroids	a vector of centroids for each plane
[out]	covariances	a vector of covariance matricies for the inliers of each plane
[out]	labels	a point cloud for the connected component labels of each pixel
[out]	label_indices	a vector of PointIndices for each labeled component

Definition at line 90 of file organized_multi_plane_segmentation.hpp.

template<typename PointT , typename PointNT , typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment	(	std::vector< ModelCoefficients > &	model_coefficients,
		std::vector< PointIndices > &	inlier_indices
	)

Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()

Parameters:

[out]	model_coefficients	a vector of model_coefficients for each plane found in the input cloud
[out]	inlier_indices	a vector of inliers for each detected plane

Definition at line 78 of file organized_multi_plane_segmentation.hpp.

template<typename PointT, typename PointNT , typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment ( std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > & regions )

Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()

Parameters:

[out] regions a list of resultant planar polygonal regions

Definition at line 194 of file organized_multi_plane_segmentation.hpp.

template<typename PointT, typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segmentAndRefine ( std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > & regions )

Perform a segmentation, as well as an additional refinement step. This helps with including points whose normals may not match neighboring points well, but may match the planar model well.

Parameters:

[out] regions A list of regions generated by segmentation and refinement.

Definition at line 231 of file organized_multi_plane_segmentation.hpp.

template<typename PointT, typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segmentAndRefine	(	std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &	regions,
		std::vector< ModelCoefficients > &	model_coefficients,
		std::vector< PointIndices > &	inlier_indices,
		PointCloudLPtr &	labels,
		std::vector< pcl::PointIndices > &	label_indices,
		std::vector< pcl::PointIndices > &	boundary_indices
	)

Perform a segmentation, as well as additional refinement step. Returns intermediate data structures for use in subsequent processing.

Parameters:

[out]	regions	A vector of PlanarRegions generated by segmentation
[out]	model_coefficients	A vector of model coefficients for each segmented plane
[out]	inlier_indices	A vector of PointIndices, indicating the inliers to each segmented plane
[out]	labels	A PointCloud<PointLT> corresponding to the resulting segmentation.
[out]	label_indices	A vector of PointIndices for each label
[out]	boundary_indices	A vector of PointIndices corresponding to the outer boundary / contour of each label

Definition at line 275 of file organized_multi_plane_segmentation.hpp.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setAngularThreshold ( double angular_threshold ) [inline]

Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Parameters:

[in] angular_threshold the tolerance in radians

Definition at line 144 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setComparator ( const PlaneComparatorPtr & compare ) [inline]

Provide a pointer to the comparator to be used for segmentation.

Parameters:

[in] compare A pointer to the comparator to be used for segmentation.

Definition at line 192 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setDistanceThreshold ( double distance_threshold ) [inline]

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.

Parameters:

[in] distance_threshold the tolerance in meters

Definition at line 160 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setInputNormals ( const PointCloudNConstPtr & normals ) [inline]

Provide a pointer to the input normals.

Parameters:

[in] normals the input normal cloud

Definition at line 112 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setMaximumCurvature ( double maximum_curvature ) [inline]

Set the maximum curvature allowed for a planar region.

Parameters:

[in] maximum_curvature the maximum curvature

Definition at line 176 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setMinInliers ( unsigned min_inliers ) [inline]

Set the minimum number of inliers required for a plane.

Parameters:

[in] min_inliers the minimum number of inliers required per plane

Definition at line 128 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setProjectPoints ( bool project_points ) [inline]

Set whether or not to project boundary points to the plane, or leave them in the original 3D space.

Parameters:

[in] project_points true if points should be projected, false if not.

Definition at line 210 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setRefinementComparator ( const PlaneRefinementComparatorPtr & compare ) [inline]

Provide a pointer to the comparator to be used for refinement.

Parameters:

[in] compare A pointer to the comparator to be used for refinement.

Definition at line 201 of file organized_multi_plane_segmentation.h.

Member Data Documentation

template<typename PointT, typename PointNT, typename PointLT>

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::angular_threshold_ [protected]

The tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Definition at line 293 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

PlaneComparatorPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::compare_ [protected]

A comparator for comparing neighboring pixels' plane equations.

Definition at line 305 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::distance_threshold_ [protected]

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.

Definition at line 296 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::maximum_curvature_ [protected]

The tolerance for maximum curvature after fitting a plane. Used to remove smooth, but non-planar regions.

Definition at line 299 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

unsigned pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::min_inliers_ [protected]

The minimum number of inliers required for each plane.

Definition at line 290 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

PointCloudNConstPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::normals_ [protected]

A pointer to the input normals.

Definition at line 287 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

bool pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::project_points_ [protected]

Whether or not points should be projected to the plane, or left in the original 3D space.

Definition at line 302 of file organized_multi_plane_segmentation.h.

template<typename PointT, typename PointNT, typename PointLT>

PlaneRefinementComparatorPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::refinement_compare_ [protected]

A comparator for use on the refinement step. Compares points to regions segmented in the first pass.

Definition at line 308 of file organized_multi_plane_segmentation.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT, typename PointNT, typename PointLT> class pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT, typename PointNT, typename PointLT>
class pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >