euclidean_cluster_comparator.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *
 *
 */

#ifndef PCL_SEGMENTATION_EUCLIDEAN_CLUSTER_COMPARATOR_H_
#define PCL_SEGMENTATION_EUCLIDEAN_CLUSTER_COMPARATOR_H_

#include <pcl/segmentation/boost.h>
#include <pcl/segmentation/comparator.h>

namespace pcl
{
  template<typename PointT, typename PointNT, typename PointLT>
  class EuclideanClusterComparator: public Comparator<PointT>
  {
    public:
      typedef typename Comparator<PointT>::PointCloud PointCloud;
      typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
      
      typedef typename pcl::PointCloud<PointNT> PointCloudN;
      typedef typename PointCloudN::Ptr PointCloudNPtr;
      typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
      
      typedef typename pcl::PointCloud<PointLT> PointCloudL;
      typedef typename PointCloudL::Ptr PointCloudLPtr;
      typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;

      typedef boost::shared_ptr<EuclideanClusterComparator<PointT, PointNT, PointLT> > Ptr;
      typedef boost::shared_ptr<const EuclideanClusterComparator<PointT, PointNT, PointLT> > ConstPtr;

      using pcl::Comparator<PointT>::input_;
      
      EuclideanClusterComparator ()
        : normals_ ()
        , angular_threshold_ (0.0f)
        , distance_threshold_ (0.005f)
        , depth_dependent_ ()
        , z_axis_ ()
      {
      }
      
      virtual
      ~EuclideanClusterComparator ()
      {
      }

      virtual void 
      setInputCloud (const PointCloudConstPtr& cloud)
      {
        input_ = cloud;
        Eigen::Matrix3f rot = input_->sensor_orientation_.toRotationMatrix ();
        z_axis_ = rot.col (2);
      }
      
      inline void
      setInputNormals (const PointCloudNConstPtr &normals)
      {
        normals_ = normals;
      }

      inline PointCloudNConstPtr
      getInputNormals () const
      {
        return (normals_);
      }

      virtual inline void
      setAngularThreshold (float angular_threshold)
      {
        angular_threshold_ = cosf (angular_threshold);
      }
      
      inline float
      getAngularThreshold () const
      {
        return (acos (angular_threshold_) );
      }

      inline void
      setDistanceThreshold (float distance_threshold, bool depth_dependent)
      {
        distance_threshold_ = distance_threshold;
        depth_dependent_ = depth_dependent;
      }

      inline float
      getDistanceThreshold () const
      {
        return (distance_threshold_);
      }

      void
      setLabels (PointCloudLPtr& labels)
      {
        labels_ = labels;
      }

      void
      setExcludeLabels (std::vector<bool>& exclude_labels)
      {
        exclude_labels_ = boost::make_shared<std::vector<bool> >(exclude_labels);
      }

      virtual bool
      compare (int idx1, int idx2) const
      {
        int label1 = labels_->points[idx1].label;
        int label2 = labels_->points[idx2].label;
        
        if (label1 == -1 || label2 == -1)
          return false;
        
        if ( (*exclude_labels_)[label1] || (*exclude_labels_)[label2])
          return false;
        
        float dist_threshold = distance_threshold_;
        if (depth_dependent_)
        {
          Eigen::Vector3f vec = input_->points[idx1].getVector3fMap ();
          float z = vec.dot (z_axis_);
          dist_threshold *= z * z;
        }

        float dx = input_->points[idx1].x - input_->points[idx2].x;
        float dy = input_->points[idx1].y - input_->points[idx2].y;
        float dz = input_->points[idx1].z - input_->points[idx2].z;
        float dist = sqrtf (dx*dx + dy*dy + dz*dz);

        return (dist < dist_threshold);
      }
      
    protected:
      PointCloudNConstPtr normals_;
      PointCloudLPtr labels_;

      boost::shared_ptr<std::vector<bool> > exclude_labels_;
      float angular_threshold_;
      float distance_threshold_;
      bool depth_dependent_;
      Eigen::Vector3f z_axis_;
  };
}

#endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_