rgb_plane_coefficient_comparator.h
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00039 
00040 #ifndef PCL_RGB_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
00041 #define PCL_RGB_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
00042 
00043 #include <pcl/segmentation/plane_coefficient_comparator.h>
00044 #include <boost/make_shared.hpp>
00045 
00046 namespace pcl
00047 {
00054   template<typename PointT, typename PointNT>
00055   class RGBPlaneCoefficientComparator: public PlaneCoefficientComparator<PointT, PointNT>
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<RGBPlaneCoefficientComparator<PointT, PointNT> > Ptr;
00066       typedef boost::shared_ptr<const RGBPlaneCoefficientComparator<PointT, PointNT> > ConstPtr;
00067 
00068       using pcl::Comparator<PointT>::input_;
00069       using pcl::PlaneCoefficientComparator<PointT, PointNT>::normals_;
00070       using pcl::PlaneCoefficientComparator<PointT, PointNT>::angular_threshold_;
00071       using pcl::PlaneCoefficientComparator<PointT, PointNT>::distance_threshold_;
00072 
00074       RGBPlaneCoefficientComparator ()
00075         : color_threshold_ (50.0f)
00076       {
00077       }
00078 
00082       RGBPlaneCoefficientComparator (boost::shared_ptr<std::vector<float> >& plane_coeff_d) 
00083         : PlaneCoefficientComparator<PointT, PointNT> (plane_coeff_d), color_threshold_ (50.0f)
00084       {
00085       }
00086       
00088       virtual
00089       ~RGBPlaneCoefficientComparator ()
00090       {
00091       }
00092 
00096       inline void
00097       setColorThreshold (float color_threshold)
00098       {
00099         color_threshold_ = color_threshold * color_threshold;
00100       }
00101 
00103       inline float
00104       getColorThreshold () const
00105       {
00106         return (color_threshold_);
00107       }
00108 
00113       bool
00114       compare (int idx1, int idx2) const
00115       {
00116         float dx = input_->points[idx1].x - input_->points[idx2].x;
00117         float dy = input_->points[idx1].y - input_->points[idx2].y;
00118         float dz = input_->points[idx1].z - input_->points[idx2].z;
00119         float dist = sqrtf (dx*dx + dy*dy + dz*dz);
00120         int dr = input_->points[idx1].r - input_->points[idx2].r;
00121         int dg = input_->points[idx1].g - input_->points[idx2].g;
00122         int db = input_->points[idx1].b - input_->points[idx2].b;
00123         //Note: This is not the best metric for color comparisons, we should probably use HSV space.
00124         float color_dist = static_cast<float> (dr*dr + dg*dg + db*db);
00125         return ( (dist < distance_threshold_)
00126                  && (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ )
00127                  && (color_dist < color_threshold_));
00128       }
00129       
00130     protected:
00131       float color_threshold_;
00132   };
00133 }
00134 
00135 #endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:40