EdgeAwarePlaneComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data. More...

#include <edge_aware_plane_comparator.h>

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

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const EdgeAwarePlaneComparator < 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 < EdgeAwarePlaneComparator < PointT, PointNT > >	Ptr
Public Member Functions
	EdgeAwarePlaneComparator ()
	Empty constructor for PlaneCoefficientComparator.
	EdgeAwarePlaneComparator (const float *distance_map)
	Empty constructor for PlaneCoefficientComparator.
float	getCurvatureThreshold () const
	Get the curvature threshold.
const float *	getDistanceMap () const
	Return the distance map used.
float	getDistanceMapThreshold () const
	Get the distance map threshold (in pixels).
float	getEuclideanDistanceThreshold () const
	Get the euclidean distance threshold.
void	setCurvatureThreshold (float curvature_threshold)
	Set the curvature threshold for creating a new segment.
void	setDistanceMap (const float *distance_map)
	Set a distance map to use. For an example of a valid distance map see OrganizedIntegralImageNormalEstimation.
void	setDistanceMapThreshold (float distance_map_threshold)
	Set the distance map threshold -- the number of pixel away from a border / nan.
void	setEuclideanDistanceThreshold (float euclidean_distance_threshold)
	Set the euclidean distance threshold.
virtual	~EdgeAwarePlaneComparator ()
	Destructor for PlaneCoefficientComparator.
Protected Member Functions
bool	compare (int idx1, int idx2) const
	Compare two neighboring points, by using normal information, curvature, and euclidean distance information.
Protected Attributes
float	curvature_threshold_
const float *	distance_map_
int	distance_map_threshold_
float	euclidean_distance_threshold_

Detailed Description

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

EdgeAwarePlaneComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.

Author:: Stefan Holzer, Alex Trevor

Definition at line 55 of file edge_aware_plane_comparator.h.

Member Typedef Documentation

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 66 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 58 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 59 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 61 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 63 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 62 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 65 of file edge_aware_plane_comparator.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>

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

Empty constructor for PlaneCoefficientComparator.

Definition at line 77 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

pcl::EdgeAwarePlaneComparator< PointT, PointNT >::EdgeAwarePlaneComparator ( const float * distance_map ) [inline]

Empty constructor for PlaneCoefficientComparator.

Parameters:

[in] distance_map the distance map to use

Definition at line 87 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

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

Destructor for PlaneCoefficientComparator.

Definition at line 97 of file edge_aware_plane_comparator.h.

Member Function Documentation

template<typename PointT, typename PointNT>

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

Compare two neighboring points, by using normal information, curvature, and euclidean distance 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 172 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getCurvatureThreshold ( ) const [inline]

Get the curvature threshold.

Definition at line 129 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

const float* pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getDistanceMap ( ) const [inline]

Return the distance map used.

Definition at line 113 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getDistanceMapThreshold ( ) const [inline]

Get the distance map threshold (in pixels).

Definition at line 145 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getEuclideanDistanceThreshold ( ) const [inline]

Get the euclidean distance threshold.

Definition at line 161 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setCurvatureThreshold ( float curvature_threshold ) [inline]

Set the curvature threshold for creating a new segment.

Parameters:

[in] curvature_threshold a threshold for the curvature

Definition at line 122 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setDistanceMap ( const float * distance_map ) [inline]

Set a distance map to use. For an example of a valid distance map see OrganizedIntegralImageNormalEstimation.

Parameters:

[in] distance_map the distance map to use

Definition at line 106 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setDistanceMapThreshold ( float distance_map_threshold ) [inline]

Set the distance map threshold -- the number of pixel away from a border / nan.

Parameters:

[in] distance_map_threshold the distance map threshold

Definition at line 138 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setEuclideanDistanceThreshold ( float euclidean_distance_threshold ) [inline]

Set the euclidean distance threshold.

Parameters:

[in] euclidean_distance_threshold the euclidean distance threshold in meters

Definition at line 154 of file edge_aware_plane_comparator.h.

Member Data Documentation

template<typename PointT, typename PointNT>

float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::curvature_threshold_ [protected]

Definition at line 209 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

const float* pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_ [protected]

Definition at line 207 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

int pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_threshold_ [protected]

Definition at line 208 of file edge_aware_plane_comparator.h.

template<typename PointT, typename PointNT>

float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::euclidean_distance_threshold_ [protected]

Definition at line 210 of file edge_aware_plane_comparator.h.

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

edge_aware_plane_comparator.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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