RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. Also takes into account RGB, so we can segmented different colored co-planar regions. In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data. More...
#include <rgb_plane_coefficient_comparator.h>
Public Types | |
| typedef boost::shared_ptr < const RGBPlaneCoefficientComparator < PointT, PointNT > > | ConstPtr |
| typedef Comparator< PointT > ::PointCloud | PointCloud |
| typedef Comparator< PointT > ::PointCloudConstPtr | PointCloudConstPtr |
| typedef pcl::PointCloud< PointNT > | PointCloudN |
| typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
| typedef PointCloudN::Ptr | PointCloudNPtr |
| typedef boost::shared_ptr < RGBPlaneCoefficientComparator < PointT, PointNT > > | Ptr |
Public Member Functions | |
| bool | compare (int idx1, int idx2) const |
| Compare two neighboring points, by using normal information, euclidean distance, and color information. | |
| float | getColorThreshold () const |
| Get the color threshold between neighboring points, to be considered part of the same plane. | |
| RGBPlaneCoefficientComparator () | |
| Empty constructor for RGBPlaneCoefficientComparator. | |
| RGBPlaneCoefficientComparator (boost::shared_ptr< std::vector< float > > &plane_coeff_d) | |
| Constructor for RGBPlaneCoefficientComparator. | |
| void | setColorThreshold (float color_threshold) |
| Set the tolerance in color space between neighboring points, to be considered part of the same plane. | |
| virtual | ~RGBPlaneCoefficientComparator () |
| Destructor for RGBPlaneCoefficientComparator. | |
Protected Attributes | |
| float | color_threshold_ |
Detailed Description
template<typename PointT, typename PointNT>
class pcl::RGBPlaneCoefficientComparator< PointT, PointNT >
RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. Also takes into account RGB, so we can segmented different colored co-planar regions. In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
Definition at line 55 of file rgb_plane_coefficient_comparator.h.
Member Typedef Documentation
| typedef boost::shared_ptr<const RGBPlaneCoefficientComparator<PointT, PointNT> > pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::ConstPtr |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 66 of file rgb_plane_coefficient_comparator.h.
| typedef Comparator<PointT>::PointCloud pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::PointCloud |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 58 of file rgb_plane_coefficient_comparator.h.
| typedef Comparator<PointT>::PointCloudConstPtr pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::PointCloudConstPtr |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 59 of file rgb_plane_coefficient_comparator.h.
| typedef pcl::PointCloud<PointNT> pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::PointCloudN |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 61 of file rgb_plane_coefficient_comparator.h.
| typedef PointCloudN::ConstPtr pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::PointCloudNConstPtr |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 63 of file rgb_plane_coefficient_comparator.h.
| typedef PointCloudN::Ptr pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::PointCloudNPtr |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 62 of file rgb_plane_coefficient_comparator.h.
| typedef boost::shared_ptr<RGBPlaneCoefficientComparator<PointT, PointNT> > pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::Ptr |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 65 of file rgb_plane_coefficient_comparator.h.
Constructor & Destructor Documentation
| pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::RGBPlaneCoefficientComparator | ( | ) | [inline] |
Empty constructor for RGBPlaneCoefficientComparator.
Definition at line 74 of file rgb_plane_coefficient_comparator.h.
| pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::RGBPlaneCoefficientComparator | ( | boost::shared_ptr< std::vector< float > > & | plane_coeff_d | ) | [inline] |
Constructor for RGBPlaneCoefficientComparator.
- Parameters:
-
[in] plane_coeff_d a reference to a vector of d coefficients of plane equations. Must be the same size as the input cloud and input normals. a, b, and c coefficients are in the input normals.
Definition at line 82 of file rgb_plane_coefficient_comparator.h.
| virtual pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::~RGBPlaneCoefficientComparator | ( | ) | [inline, virtual] |
Destructor for RGBPlaneCoefficientComparator.
Definition at line 89 of file rgb_plane_coefficient_comparator.h.
Member Function Documentation
| bool pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::compare | ( | int | idx1, |
| int | idx2 | ||
| ) | const [inline, virtual] |
Compare two neighboring points, by using normal information, euclidean distance, and color information.
- 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 114 of file rgb_plane_coefficient_comparator.h.
| float pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::getColorThreshold | ( | ) | const [inline] |
Get the color threshold between neighboring points, to be considered part of the same plane.
Definition at line 104 of file rgb_plane_coefficient_comparator.h.
| void pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::setColorThreshold | ( | float | color_threshold | ) | [inline] |
Set the tolerance in color space between neighboring points, to be considered part of the same plane.
- Parameters:
-
[in] color_threshold The distance in color space
Definition at line 97 of file rgb_plane_coefficient_comparator.h.
Member Data Documentation
float pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::color_threshold_ [protected] |
Definition at line 131 of file rgb_plane_coefficient_comparator.h.
The documentation for this class was generated from the following file: