euclidean_plane_coefficient_comparator.h
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00039 
00040 #ifndef PCL_EUCLIDEAN_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
00041 #define PCL_EUCLIDEAN_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
00042 
00043 #include <pcl/segmentation/boost.h>
00044 #include <pcl/segmentation/plane_coefficient_comparator.h>
00045 
00046 namespace pcl
00047 {
00054   template<typename PointT, typename PointNT>
00055   class EuclideanPlaneCoefficientComparator: public PlaneCoefficientComparator<PointT, PointNT>
00056   {
00057     public:
00058       typedef typename Comparator<PointT>::PointCloud PointCloud;
00059       typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
00060       typedef typename pcl::PointCloud<PointNT> PointCloudN;
00061       typedef typename PointCloudN::Ptr PointCloudNPtr;
00062       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
00063       
00064       typedef boost::shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> > Ptr;
00065       typedef boost::shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> > ConstPtr;
00066 
00067       using pcl::Comparator<PointT>::input_;
00068       using pcl::PlaneCoefficientComparator<PointT, PointNT>::normals_;
00069       using pcl::PlaneCoefficientComparator<PointT, PointNT>::angular_threshold_;
00070       using pcl::PlaneCoefficientComparator<PointT, PointNT>::distance_threshold_;
00071       
00073       EuclideanPlaneCoefficientComparator ()
00074       {
00075       }
00076 
00078       virtual
00079       ~EuclideanPlaneCoefficientComparator ()
00080       {
00081       }
00082 
00087       virtual bool
00088       compare (int idx1, int idx2) const
00089       {
00090         float dx = input_->points[idx1].x - input_->points[idx2].x;
00091         float dy = input_->points[idx1].y - input_->points[idx2].y;
00092         float dz = input_->points[idx1].z - input_->points[idx2].z;
00093         float dist = sqrtf (dx*dx + dy*dy + dz*dz);
00094         
00095         return ( (dist < distance_threshold_)
00096                  && (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ ) );
00097       }
00098   };
00099 }
00100 
00101 #endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:23:33