PlaneCoefficientComparator 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 <plane_coefficient_comparator.h>

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

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const PlaneCoefficientComparator < 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 < PlaneCoefficientComparator < PointT, PointNT > >	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.
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.
const std::vector< float > &	getPlaneCoeffD () const
	Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.
	PlaneCoefficientComparator ()
	Empty constructor for PlaneCoefficientComparator.
	PlaneCoefficientComparator (boost::shared_ptr< std::vector< float > > &plane_coeff_d)
	Constructor for PlaneCoefficientComparator.
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=false)
	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.
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	setPlaneCoeffD (boost::shared_ptr< std::vector< float > > &plane_coeff_d)
	Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.
void	setPlaneCoeffD (std::vector< float > &plane_coeff_d)
	Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.
virtual	~PlaneCoefficientComparator ()
	Destructor for PlaneCoefficientComparator.
Protected Attributes
float	angular_threshold_
bool	depth_dependent_
float	distance_threshold_
PointCloudNConstPtr	normals_
boost::shared_ptr< std::vector < float > >	plane_coeff_d_
Eigen::Vector3f	z_axis_

Detailed Description

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

PlaneCoefficientComparator 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:: Alex Trevor

Definition at line 55 of file plane_coefficient_comparator.h.

Member Typedef Documentation

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::Comparator< PointT >.

Reimplemented in pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >, pcl::EdgeAwarePlaneComparator< PointT, PointNT >, pcl::RGBPlaneCoefficientComparator< PointT, PointNT >, pcl::EdgeAwarePlaneComparator< PointT, Normal >, pcl::EdgeAwarePlaneComparator< PointT, pcl::Normal >, pcl::RGBPlaneCoefficientComparator< PointT, pcl::Normal >, pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >, and pcl::EuclideanPlaneCoefficientComparator< PointT, pcl::Normal >.

Definition at line 66 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::Comparator< PointT >.

Reimplemented in pcl::EdgeAwarePlaneComparator< PointT, PointNT >, pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >, pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >, pcl::RGBPlaneCoefficientComparator< PointT, PointNT >, pcl::EdgeAwarePlaneComparator< PointT, Normal >, pcl::EdgeAwarePlaneComparator< PointT, pcl::Normal >, pcl::EuclideanPlaneCoefficientComparator< PointT, pcl::Normal >, and pcl::RGBPlaneCoefficientComparator< PointT, pcl::Normal >.

Definition at line 58 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::Comparator< PointT >.

Reimplemented in pcl::EdgeAwarePlaneComparator< PointT, PointNT >, pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >, pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >, pcl::RGBPlaneCoefficientComparator< PointT, PointNT >, pcl::EdgeAwarePlaneComparator< PointT, Normal >, pcl::EdgeAwarePlaneComparator< PointT, pcl::Normal >, pcl::EuclideanPlaneCoefficientComparator< PointT, pcl::Normal >, and pcl::RGBPlaneCoefficientComparator< PointT, pcl::Normal >.

Definition at line 59 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented in pcl::EdgeAwarePlaneComparator< PointT, PointNT >, pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >, pcl::RGBPlaneCoefficientComparator< PointT, PointNT >, pcl::EdgeAwarePlaneComparator< PointT, Normal >, pcl::EdgeAwarePlaneComparator< PointT, pcl::Normal >, pcl::RGBPlaneCoefficientComparator< PointT, pcl::Normal >, pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >, and pcl::EuclideanPlaneCoefficientComparator< PointT, pcl::Normal >.

Definition at line 61 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented in pcl::EdgeAwarePlaneComparator< PointT, PointNT >, pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >, pcl::RGBPlaneCoefficientComparator< PointT, PointNT >, pcl::EdgeAwarePlaneComparator< PointT, Normal >, pcl::EdgeAwarePlaneComparator< PointT, pcl::Normal >, pcl::RGBPlaneCoefficientComparator< PointT, pcl::Normal >, pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >, and pcl::EuclideanPlaneCoefficientComparator< PointT, pcl::Normal >.

Definition at line 63 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented in pcl::EdgeAwarePlaneComparator< PointT, PointNT >, pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >, pcl::RGBPlaneCoefficientComparator< PointT, PointNT >, pcl::EdgeAwarePlaneComparator< PointT, Normal >, pcl::EdgeAwarePlaneComparator< PointT, pcl::Normal >, pcl::RGBPlaneCoefficientComparator< PointT, pcl::Normal >, pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >, and pcl::EuclideanPlaneCoefficientComparator< PointT, pcl::Normal >.

Definition at line 62 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::Comparator< PointT >.

Reimplemented in pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >, pcl::EdgeAwarePlaneComparator< PointT, PointNT >, pcl::RGBPlaneCoefficientComparator< PointT, PointNT >, pcl::EdgeAwarePlaneComparator< PointT, Normal >, pcl::EdgeAwarePlaneComparator< PointT, pcl::Normal >, pcl::RGBPlaneCoefficientComparator< PointT, pcl::Normal >, pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >, and pcl::EuclideanPlaneCoefficientComparator< PointT, pcl::Normal >.

Definition at line 65 of file plane_coefficient_comparator.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>

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

Empty constructor for PlaneCoefficientComparator.

Definition at line 71 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

pcl::PlaneCoefficientComparator< PointT, PointNT >::PlaneCoefficientComparator ( boost::shared_ptr< std::vector< float > > & plane_coeff_d ) [inline]

Constructor for PlaneCoefficientComparator.

Parameters:

[in] plane_coeff_d a reference to a vector of d coefficients of plane equations. Must be the same size as the input cloud and input normals. a, b, and c coefficients are in the input normals.

Definition at line 84 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

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

Destructor for PlaneCoefficientComparator.

Definition at line 96 of file plane_coefficient_comparator.h.

Member Function Documentation

template<typename PointT, typename PointNT>

virtual bool pcl::PlaneCoefficientComparator< PointT, PointNT >::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 >.

Reimplemented in pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >, pcl::EdgeAwarePlaneComparator< PointT, PointNT >, pcl::EdgeAwarePlaneComparator< PointT, Normal >, pcl::EdgeAwarePlaneComparator< PointT, pcl::Normal >, pcl::RGBPlaneCoefficientComparator< PointT, PointNT >, pcl::RGBPlaneCoefficientComparator< PointT, pcl::Normal >, pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >, and pcl::EuclideanPlaneCoefficientComparator< PointT, pcl::Normal >.

Definition at line 188 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

float pcl::PlaneCoefficientComparator< PointT, PointNT >::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 158 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

float pcl::PlaneCoefficientComparator< PointT, PointNT >::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 177 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

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

Get the input normals.

Definition at line 117 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

const std::vector<float>& pcl::PlaneCoefficientComparator< PointT, PointNT >::getPlaneCoeffD ( ) const [inline]

Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.

Definition at line 142 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

virtual void pcl::PlaneCoefficientComparator< PointT, PointNT >::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 151 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

void pcl::PlaneCoefficientComparator< PointT, PointNT >::setDistanceThreshold	(	float	distance_threshold,
		bool	depth_dependent = `false`
	)		`[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 (at 1m)
[in]	depth_dependent	whether to scale the threshold based on range from the sensor (default: false)

Definition at line 168 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

virtual void pcl::PlaneCoefficientComparator< PointT, PointNT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual]

Set the input cloud for the comparator.

Parameters:

[in] cloud the point cloud this comparator will operate on

Reimplemented from pcl::Comparator< PointT >.

Definition at line 101 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

void pcl::PlaneCoefficientComparator< PointT, PointNT >::setInputNormals ( const PointCloudNConstPtr & normals ) [inline]

Provide a pointer to the input normals.

Parameters:

[in] normals the input normal cloud

Definition at line 110 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

void pcl::PlaneCoefficientComparator< PointT, PointNT >::setPlaneCoeffD ( boost::shared_ptr< std::vector< float > > & plane_coeff_d ) [inline]

Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.

Parameters:

[in] plane_coeff_d a pointer to the plane coefficients.

Definition at line 126 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

void pcl::PlaneCoefficientComparator< PointT, PointNT >::setPlaneCoeffD ( std::vector< float > & plane_coeff_d ) [inline]

Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.

Parameters:

[in] plane_coeff_d a pointer to the plane coefficients.

Definition at line 135 of file plane_coefficient_comparator.h.

Member Data Documentation

template<typename PointT, typename PointNT>

float pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_ [protected]

Definition at line 205 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

bool pcl::PlaneCoefficientComparator< PointT, PointNT >::depth_dependent_ [protected]

Reimplemented in pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >.

Definition at line 207 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

float pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_ [protected]

Definition at line 206 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

PointCloudNConstPtr pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_ [protected]

Definition at line 203 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

boost::shared_ptr<std::vector<float> > pcl::PlaneCoefficientComparator< PointT, PointNT >::plane_coeff_d_ [protected]

Definition at line 204 of file plane_coefficient_comparator.h.

template<typename PointT, typename PointNT>

Eigen::Vector3f pcl::PlaneCoefficientComparator< PointT, PointNT >::z_axis_ [protected]

Definition at line 208 of file plane_coefficient_comparator.h.

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

plane_coefficient_comparator.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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