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. More...

#include <plane_refinement_comparator.h>

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

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const PlaneRefinementComparator < PointT, PointNT, PointLT > >	ConstPtr
typedef Comparator< PointT > ::PointCloud	PointCloud
typedef Comparator< PointT > ::PointCloudConstPtr	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 boost::shared_ptr < PlaneRefinementComparator < PointT, PointNT, PointLT > >	Ptr
Public Member Functions
virtual bool	compare (int idx1, int idx2) const
	Compare two neighboring points.
boost::shared_ptr< std::vector < pcl::ModelCoefficients > >	getModelCoefficients () const
	Get the vector of model coefficients to which we will compare.
	PlaneRefinementComparator ()
	Empty constructor for PlaneCoefficientComparator.
	PlaneRefinementComparator (boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &models, boost::shared_ptr< std::vector< bool > > &refine_labels)
	Empty constructor for PlaneCoefficientComparator.
void	setLabels (PointCloudLPtr &labels)
	...
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.
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.
void	setModelCoefficients (boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &models)
	Set the vector of model coefficients to which we will compare.
void	setModelCoefficients (std::vector< pcl::ModelCoefficients > &models)
	Set the vector of model coefficients to which we will compare.
void	setRefineLabels (boost::shared_ptr< std::vector< bool > > &refine_labels)
	Set which labels should be refined. This is a vector of bools 0-max_label, true if the label should be refined.
void	setRefineLabels (std::vector< bool > &refine_labels)
	Set which labels should be refined. This is a vector of bools 0-max_label, true if the label should be refined.
virtual	~PlaneRefinementComparator ()
	Destructor for PlaneCoefficientComparator.
Protected Attributes
bool	depth_dependent_
boost::shared_ptr< std::vector < int > >	label_to_model_
PointCloudLPtr	labels_
boost::shared_ptr< std::vector < pcl::ModelCoefficients > >	models_
boost::shared_ptr< std::vector < bool > >	refine_labels_

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 55 of file plane_refinement_comparator.h.

Member Typedef Documentation

template<typename PointT, typename PointNT, typename PointLT>

typedef boost::shared_ptr<const PlaneRefinementComparator<PointT, PointNT, PointLT> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::ConstPtr

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

Definition at line 70 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef Comparator<PointT>::PointCloud pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloud

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

Definition at line 58 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef Comparator<PointT>::PointCloudConstPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudConstPtr

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

Definition at line 59 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

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

Definition at line 65 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

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

Definition at line 67 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

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

Definition at line 66 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

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

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

Definition at line 61 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

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

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

Definition at line 63 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

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

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

Definition at line 62 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef boost::shared_ptr<PlaneRefinementComparator<PointT, PointNT, PointLT> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::Ptr

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

Definition at line 69 of file plane_refinement_comparator.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT, typename PointLT>

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

Empty constructor for PlaneCoefficientComparator.

Definition at line 79 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PlaneRefinementComparator	(	boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &	models,
		boost::shared_ptr< std::vector< bool > > &	refine_labels
	)		`[inline]`

Empty constructor for PlaneCoefficientComparator.

Parameters:

[in]	models
[in]	refine_labels

Definition at line 92 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

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

Destructor for PlaneCoefficientComparator.

Definition at line 104 of file plane_refinement_comparator.h.

Member Function Documentation

template<typename PointT, typename PointNT, typename PointLT>

virtual bool pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::compare	(	int	idx1,
		int	idx2
	)		const `[inline, virtual]`

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 183 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

boost::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 164 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabels ( PointCloudLPtr & labels ) [inline]

...

Parameters:

[in] labels

Definition at line 173 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel ( boost::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 148 of file plane_refinement_comparator.h.

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 157 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients ( boost::shared_ptr< std::vector< pcl::ModelCoefficients > > & models ) [inline]

Set the vector of model coefficients to which we will compare.

Parameters:

[in] models a vector of model coefficients produced by the initial segmentation step.

Definition at line 112 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients ( std::vector< pcl::ModelCoefficients > & models ) [inline]

Set the vector of model coefficients to which we will compare.

Parameters:

[in] models a vector of model coefficients produced by the initial segmentation step.

Definition at line 121 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels ( boost::shared_ptr< std::vector< bool > > & refine_labels ) [inline]

Set which labels should be refined. This is a vector of bools 0-max_label, true if the label should be refined.

Parameters:

[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.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels ( std::vector< bool > & refine_labels ) [inline]

Set which labels should be refined. This is a vector of bools 0-max_label, true if the label should be refined.

Parameters:

[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.

Member Data Documentation

template<typename PointT, typename PointNT, typename PointLT>

bool pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::depth_dependent_ [protected]

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

Definition at line 218 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

boost::shared_ptr<std::vector<int> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_ [protected]

Definition at line 217 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

PointCloudLPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::labels_ [protected]

Definition at line 215 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

boost::shared_ptr<std::vector<pcl::ModelCoefficients> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_ [protected]

Definition at line 214 of file plane_refinement_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

boost::shared_ptr<std::vector<bool> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_ [protected]

Definition at line 216 of file plane_refinement_comparator.h.

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

plane_refinement_comparator.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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