GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving. In conjunction with OrganizedConnectedComponentSegmentation, this allows smooth groundplanes / road surfaces to be segmented from point clouds. More...

#include <ground_plane_comparator.h>

Inheritance diagram for pcl::GroundPlaneComparator< PointT, PointNT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const GroundPlaneComparator < 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 < GroundPlaneComparator < PointT, PointNT > >	Ptr
Public Member Functions
virtual bool	compare (int idx1, int idx2) const
	Compare points at two indices by their plane equations. True if the angle between the normals is less than the angular threshold, and the difference between the d component of the normals is less than distance threshold, else false.
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.
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.
PointCloudNConstPtr	getInputNormals () const
	Get the input normals.
const std::vector< float > &	getPlaneCoeffD () const
	Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.
	GroundPlaneComparator ()
	Empty constructor for GroundPlaneComparator.
	GroundPlaneComparator (boost::shared_ptr< std::vector< float > > &plane_coeff_d)
	Constructor for GroundPlaneComparator.
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.
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.
void	setExpectedGroundNormal (Eigen::Vector3f normal)
	Set the expected ground plane normal with respect to the sensor. Pixels labeled as ground must be within ground_angular_threshold radians of this normal to be labeled as ground.
virtual void	setGroundAngularThreshold (float angular_threshold)
	Set the tolerance in radians for difference in normal direction between a point and the expected ground normal.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide the input cloud.
void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input normals.
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. a, b, and c are provided by the normal cloud.
void	setPlaneCoeffD (std::vector< float > &plane_coeff_d)
	Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.
virtual	~GroundPlaneComparator ()
	Destructor for GroundPlaneComparator.
Protected Attributes
float	angular_threshold_
bool	depth_dependent_
Eigen::Vector3f	desired_road_axis_
float	distance_threshold_
PointCloudNConstPtr	normals_
boost::shared_ptr< std::vector < float > >	plane_coeff_d_
float	road_angular_threshold_
Eigen::Vector3f	z_axis_

Detailed Description

template<typename PointT, typename PointNT>
class pcl::GroundPlaneComparator< PointT, PointNT >

GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving. In conjunction with OrganizedConnectedComponentSegmentation, this allows smooth groundplanes / road surfaces to be segmented from point clouds.

Author:: Alex Trevor

Definition at line 55 of file ground_plane_comparator.h.

Member Typedef Documentation

template<typename PointT , typename PointNT >

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

Reimplemented from pcl::Comparator< PointT >.

Definition at line 66 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef Comparator<PointT>::PointCloud pcl::GroundPlaneComparator< PointT, PointNT >::PointCloud

Reimplemented from pcl::Comparator< PointT >.

Definition at line 58 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef Comparator<PointT>::PointCloudConstPtr pcl::GroundPlaneComparator< PointT, PointNT >::PointCloudConstPtr

Reimplemented from pcl::Comparator< PointT >.

Definition at line 59 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef pcl::PointCloud<PointNT> pcl::GroundPlaneComparator< PointT, PointNT >::PointCloudN

Definition at line 61 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef PointCloudN::ConstPtr pcl::GroundPlaneComparator< PointT, PointNT >::PointCloudNConstPtr

Definition at line 63 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef PointCloudN::Ptr pcl::GroundPlaneComparator< PointT, PointNT >::PointCloudNPtr

Definition at line 62 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef boost::shared_ptr<GroundPlaneComparator<PointT, PointNT> > pcl::GroundPlaneComparator< PointT, PointNT >::Ptr

Reimplemented from pcl::Comparator< PointT >.

Definition at line 65 of file ground_plane_comparator.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT >

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

Empty constructor for GroundPlaneComparator.

Definition at line 71 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

pcl::GroundPlaneComparator< PointT, PointNT >::GroundPlaneComparator ( boost::shared_ptr< std::vector< float > > & plane_coeff_d ) [inline]

Constructor for GroundPlaneComparator.

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 86 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

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

Destructor for GroundPlaneComparator.

Definition at line 100 of file ground_plane_comparator.h.

Member Function Documentation

template<typename PointT , typename PointNT >

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

Compare points at two indices by their plane equations. True if the angle between the normals is less than the angular threshold, and the difference between the d component of the normals is less than distance threshold, else false.

Parameters:

idx1	The first index for the comparison
idx2	The second index for the comparison

Implements pcl::Comparator< PointT >.

Definition at line 213 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

float pcl::GroundPlaneComparator< PointT, PointNT >::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 183 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

float pcl::GroundPlaneComparator< PointT, PointNT >::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 202 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

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

Get the input normals.

Definition at line 123 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

const std::vector<float>& pcl::GroundPlaneComparator< PointT, PointNT >::getPlaneCoeffD ( ) const [inline]

Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.

Definition at line 148 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

virtual void pcl::GroundPlaneComparator< PointT, PointNT >::setAngularThreshold ( float angular_threshold ) [inline, virtual]

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 157 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

void pcl::GroundPlaneComparator< PointT, PointNT >::setDistanceThreshold	(	float	distance_threshold,
		bool	depth_dependent = `false`
	)		`[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 (at 1m)
[in]	depth_dependent	whether to scale the threshold based on range from the sensor (default: false)

Definition at line 193 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

void pcl::GroundPlaneComparator< PointT, PointNT >::setExpectedGroundNormal ( Eigen::Vector3f normal ) [inline]

Set the expected ground plane normal with respect to the sensor. Pixels labeled as ground must be within ground_angular_threshold radians of this normal to be labeled as ground.

Parameters:

[in] normal The normal direction of the expected ground plane.

Definition at line 175 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

virtual void pcl::GroundPlaneComparator< PointT, PointNT >::setGroundAngularThreshold ( float angular_threshold ) [inline, virtual]

Set the tolerance in radians for difference in normal direction between a point and the expected ground normal.

Parameters:

[in] angular_threshold the

Definition at line 166 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

virtual void pcl::GroundPlaneComparator< PointT, PointNT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual]

Provide the input cloud.

Parameters:

[in] cloud the input point cloud.

Reimplemented from pcl::Comparator< PointT >.

Definition at line 107 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

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

Provide a pointer to the input normals.

Parameters:

[in] normals the input normal cloud.

Definition at line 116 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

void pcl::GroundPlaneComparator< PointT, PointNT >::setPlaneCoeffD ( boost::shared_ptr< std::vector< float > > & plane_coeff_d ) [inline]

Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.

Parameters:

[in] plane_coeff_d a pointer to the plane coefficients.

Definition at line 132 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

void pcl::GroundPlaneComparator< PointT, PointNT >::setPlaneCoeffD ( std::vector< float > & plane_coeff_d ) [inline]

Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.

Parameters:

[in] plane_coeff_d a pointer to the plane coefficients.

Definition at line 141 of file ground_plane_comparator.h.

Member Data Documentation

template<typename PointT , typename PointNT >

float pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_ [protected]

Definition at line 238 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

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

Definition at line 241 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

Eigen::Vector3f pcl::GroundPlaneComparator< PointT, PointNT >::desired_road_axis_ [protected]

Definition at line 243 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

float pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_ [protected]

Definition at line 240 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

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

Definition at line 236 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

boost::shared_ptr<std::vector<float> > pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_ [protected]

Definition at line 237 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

float pcl::GroundPlaneComparator< PointT, PointNT >::road_angular_threshold_ [protected]

Definition at line 239 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >

Eigen::Vector3f pcl::GroundPlaneComparator< PointT, PointNT >::z_axis_ [protected]

Definition at line 242 of file ground_plane_comparator.h.

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

ground_plane_comparator.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<typename PointT, typename PointNT> class pcl::GroundPlaneComparator< PointT, PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT, typename PointNT>
class pcl::GroundPlaneComparator< PointT, PointNT >