EuclideanClusterComparator is a comparator used for finding clusters supported by planar surfaces. This needs to be run as a second pass after extracting planar surfaces, using MultiPlaneSegmentation for example. More...

#include <euclidean_cluster_comparator.h>

Inheritance diagram for pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const EuclideanClusterComparator < PointT, PointNT, PointLT > >	ConstPtr
typedef Comparator< PointT > ::PointCloud	PointCloud
typedef Comparator< PointT > ::PointCloudConstPtr	PointCloudConstPtr
typedef pcl::PointCloud< PointLT >	PointCloudL
typedef PointCloudL::ConstPtr	PointCloudLConstPtr
typedef PointCloudL::Ptr	PointCloudLPtr
typedef pcl::PointCloud< PointNT >	PointCloudN
typedef PointCloudN::ConstPtr	PointCloudNConstPtr
typedef PointCloudN::Ptr	PointCloudNPtr
typedef boost::shared_ptr < EuclideanClusterComparator < PointT, PointNT, PointLT > >	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.
	EuclideanClusterComparator ()
	Empty constructor for EuclideanClusterComparator.
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.
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)
	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	setExcludeLabels (std::vector< bool > &exclude_labels)
	Set labels in the label cloud to exclude.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Set the input cloud for the comparator.
void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input normals.
void	setLabels (PointCloudLPtr &labels)
	Set label cloud.
virtual	~EuclideanClusterComparator ()
	Destructor for EuclideanClusterComparator.
Protected Attributes
float	angular_threshold_
bool	depth_dependent_
float	distance_threshold_
boost::shared_ptr< std::vector < bool > >	exclude_labels_
PointCloudLPtr	labels_
PointCloudNConstPtr	normals_
Eigen::Vector3f	z_axis_

Detailed Description

template<typename PointT, typename PointNT, typename PointLT>
class pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >

EuclideanClusterComparator is a comparator used for finding clusters supported by planar surfaces. This needs to be run as a second pass after extracting planar surfaces, using MultiPlaneSegmentation for example.

Author:: Alex Trevor

Definition at line 54 of file euclidean_cluster_comparator.h.

Member Typedef Documentation

template<typename PointT, typename PointNT, typename PointLT>

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

Reimplemented from pcl::Comparator< PointT >.

Definition at line 69 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef Comparator<PointT>::PointCloud pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloud

Reimplemented from pcl::Comparator< PointT >.

Definition at line 57 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef Comparator<PointT>::PointCloudConstPtr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudConstPtr

Reimplemented from pcl::Comparator< PointT >.

Definition at line 58 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef pcl::PointCloud<PointLT> pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudL

Definition at line 64 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PointCloudL::ConstPtr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudLConstPtr

Definition at line 66 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PointCloudL::Ptr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudLPtr

Definition at line 65 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef pcl::PointCloud<PointNT> pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudN

Definition at line 60 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PointCloudN::ConstPtr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudNConstPtr

Definition at line 62 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef PointCloudN::Ptr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudNPtr

Definition at line 61 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

typedef boost::shared_ptr<EuclideanClusterComparator<PointT, PointNT, PointLT> > pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::Ptr

Reimplemented from pcl::Comparator< PointT >.

Definition at line 68 of file euclidean_cluster_comparator.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT, typename PointLT>

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

Empty constructor for EuclideanClusterComparator.

Definition at line 74 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

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

Destructor for EuclideanClusterComparator.

Definition at line 85 of file euclidean_cluster_comparator.h.

Member Function Documentation

template<typename PointT, typename PointNT, typename PointLT>

virtual bool pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::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 170 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

float pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::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 124 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

float pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::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 141 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

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

Get the input normals.

Definition at line 108 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

virtual void pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::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 117 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::setDistanceThreshold	(	float	distance_threshold,
		bool	depth_dependent
	)		`[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

Definition at line 133 of file euclidean_cluster_comparator.h.

template<typename PointT, typename PointNT, typename PointLT>

void pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::setExcludeLabels ( std::vector< bool > & exclude_labels ) [inline]