plane_coefficient_comparator.h
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00039 
00040 #ifndef PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
00041 #define PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
00042 
00043 #include <pcl/common/angles.h>
00044 #include <pcl/segmentation/comparator.h>
00045 #include <boost/make_shared.hpp>
00046 
00047 namespace pcl
00048 {
00054   template<typename PointT, typename PointNT>
00055   class PlaneCoefficientComparator: public Comparator<PointT>
00056   {
00057     public:
00058       typedef typename Comparator<PointT>::PointCloud PointCloud;
00059       typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
00060       
00061       typedef typename pcl::PointCloud<PointNT> PointCloudN;
00062       typedef typename PointCloudN::Ptr PointCloudNPtr;
00063       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
00064       
00065       typedef boost::shared_ptr<PlaneCoefficientComparator<PointT, PointNT> > Ptr;
00066       typedef boost::shared_ptr<const PlaneCoefficientComparator<PointT, PointNT> > ConstPtr;
00067 
00068       using pcl::Comparator<PointT>::input_;
00069       
00071       PlaneCoefficientComparator ()
00072         : normals_ ()
00073         , plane_coeff_d_ ()
00074         , angular_threshold_ (pcl::deg2rad (2.0f))
00075         , distance_threshold_ (0.02f)
00076         , depth_dependent_ (true)
00077         , z_axis_ (Eigen::Vector3f (0.0, 0.0, 1.0) )
00078       {
00079       }
00080 
00084       PlaneCoefficientComparator (boost::shared_ptr<std::vector<float> >& plane_coeff_d) 
00085         : normals_ ()
00086         , plane_coeff_d_ (plane_coeff_d)
00087         , angular_threshold_ (pcl::deg2rad (2.0f))
00088         , distance_threshold_ (0.02f)
00089         , depth_dependent_ (true)
00090         , z_axis_ (Eigen::Vector3f (0.0f, 0.0f, 1.0f) )
00091       {
00092       }
00093       
00095       virtual
00096       ~PlaneCoefficientComparator ()
00097       {
00098       }
00099 
00100       virtual void 
00101       setInputCloud (const PointCloudConstPtr& cloud)
00102       {
00103         input_ = cloud;
00104       }
00105       
00109       inline void
00110       setInputNormals (const PointCloudNConstPtr &normals)
00111       {
00112         normals_ = normals;
00113       }
00114 
00116       inline PointCloudNConstPtr
00117       getInputNormals () const
00118       {
00119         return (normals_);
00120       }
00121 
00125       void
00126       setPlaneCoeffD (boost::shared_ptr<std::vector<float> >& plane_coeff_d)
00127       {
00128         plane_coeff_d_ = plane_coeff_d;
00129       }
00130 
00134       void
00135       setPlaneCoeffD (std::vector<float>& plane_coeff_d)
00136       {
00137         plane_coeff_d_ = boost::make_shared<std::vector<float> >(plane_coeff_d);
00138       }
00139       
00141       const std::vector<float>&
00142       getPlaneCoeffD () const
00143       {
00144         return (plane_coeff_d_);
00145       }
00146 
00150       virtual void
00151       setAngularThreshold (float angular_threshold)
00152       {
00153         angular_threshold_ = cosf (angular_threshold);
00154       }
00155       
00157       inline float
00158       getAngularThreshold () const
00159       {
00160         return (acosf (angular_threshold_) );
00161       }
00162 
00167       void
00168       setDistanceThreshold (float distance_threshold, 
00169                             bool depth_dependent = false)
00170       {
00171         distance_threshold_ = distance_threshold;
00172         depth_dependent_ = depth_dependent;
00173       }
00174 
00176       inline float
00177       getDistanceThreshold () const
00178       {
00179         return (distance_threshold_);
00180       }
00181       
00187       virtual bool
00188       compare (int idx1, int idx2) const
00189       {
00190         float threshold = distance_threshold_;
00191         if (depth_dependent_)
00192         {
00193           Eigen::Vector3f vec = input_->points[idx1].getVector3fMap ();
00194           
00195           float z = vec.dot (z_axis_);
00196           threshold *= z * z;
00197         }
00198         return ( (fabs ((*plane_coeff_d_)[idx1] - (*plane_coeff_d_)[idx2]) < threshold)
00199                  && (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ ) );
00200       }
00201       
00202     protected:
00203       PointCloudNConstPtr normals_;
00204       boost::shared_ptr<std::vector<float> > plane_coeff_d_;
00205       float angular_threshold_;
00206       float distance_threshold_;
00207       bool depth_dependent_;
00208       Eigen::Vector3f z_axis_;
00209 
00210     public:
00211       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00212   };
00213 }
00214 
00215 #endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:16:32