PlaneRefinementComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. More...

#include <pcl/segmentation/plane_refinement_comparator.h>

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

Collaboration diagram for pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >:

Public Types
typedef Comparator< PointT > ::PointCloud	PointCloud

typedef Comparator< PointT > ::PointCloudConstPtr	PointCloudConstPtr

typedef pcl::PointCloud< PointNT >	PointCloudN

typedef PointCloudN::Ptr	PointCloudNPtr

typedef PointCloudN::ConstPtr	PointCloudNConstPtr

typedef pcl::PointCloud< PointLT >	PointCloudL

typedef PointCloudL::Ptr	PointCloudLPtr

typedef PointCloudL::ConstPtr	PointCloudLConstPtr

typedef boost::shared_ptr < PlaneRefinementComparator < PointT, PointNT, PointLT > >	Ptr

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

typedef PointCloud::Ptr	PointCloudPtr

Public Member Functions
	PlaneRefinementComparator ()
	Empty constructor for PlaneCoefficientComparator. More...

	PlaneRefinementComparator (boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &models, boost::shared_ptr< std::vector< bool > > &refine_labels)
	Empty constructor for PlaneCoefficientComparator. More...

virtual	~PlaneRefinementComparator ()
	Destructor for PlaneCoefficientComparator. More...

void	setModelCoefficients (boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &models)
	Set the vector of model coefficients to which we will compare. More...

void	setModelCoefficients (std::vector< pcl::ModelCoefficients > &models)
	Set the vector of model coefficients to which we will compare. More...

void	setRefineLabels (boost::shared_ptr< std::vector< bool > > &refine_labels)
	Set which labels should be refined. More...

void	setRefineLabels (std::vector< bool > &refine_labels)
	Set which labels should be refined. More...

void	setLabelToModel (boost::shared_ptr< std::vector< int > > &label_to_model)
	A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed. More...

void	setLabelToModel (std::vector< int > &label_to_model)
	A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed. More...

boost::shared_ptr< std::vector < pcl::ModelCoefficients > >	getModelCoefficients () const
	Get the vector of model coefficients to which we will compare. More...

void	setLabels (PointCloudLPtr &labels)
	... More...

virtual bool	compare (int idx1, int idx2) const
	Compare two neighboring points. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Set the input cloud for the comparator. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input normals. More...

PointCloudNConstPtr	getInputNormals () const
	Get the input normals. More...

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. More...

void	setPlaneCoeffD (std::vector< float > &plane_coeff_d)
	Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. More...

const std::vector< float > &	getPlaneCoeffD () const
	Get a pointer to the vector of the d-coefficient of the planes' hessian normal form. More...

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. More...

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. More...

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. More...

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. More...

virtual PointCloudConstPtr	getInputCloud () const
	Get the input cloud this comparator operates on. More...

Detailed Description

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

PlaneRefinementComparator 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, Suat Gedikli

Definition at line 55 of file plane_refinement_comparator.h.

Member Typedef Documentation

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 70 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 58 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 59 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 65 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 67 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 66 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 61 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 63 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 62 of file plane_refinement_comparator.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::Comparator< PointT >::PointCloudPtr

inherited

Definition at line 57 of file comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 69 of file plane_refinement_comparator.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT , typename PointLT >

pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PlaneRefinementComparator ( )

inline

Empty constructor for PlaneCoefficientComparator.

Definition at line 79 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PlaneRefinementComparator	(	boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &	models,
		boost::shared_ptr< std::vector< bool > > &	refine_labels
	)

inline

Empty constructor for PlaneCoefficientComparator.

Parameters

[in]	models
[in]	refine_labels

Definition at line 92 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

virtual pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::~PlaneRefinementComparator ( )

inlinevirtual

Destructor for PlaneCoefficientComparator.

Definition at line 104 of file plane_refinement_comparator.h.

Member Function Documentation

template<typename PointT , typename PointNT , typename PointLT >

virtual bool pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::compare	(	int	idx1,
		int	idx2
	)		const

inlinevirtual

Compare two neighboring points.

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 183 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT >

float pcl::PlaneCoefficientComparator< PointT, PointNT >::getAngularThreshold ( ) const

inlineinherited

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

inlineinherited

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>

virtual PointCloudConstPtr pcl::Comparator< PointT >::getInputCloud ( ) const

inlinevirtualinherited

Get the input cloud this comparator operates on.

Definition at line 85 of file comparator.h.

template<typename PointT , typename PointNT >

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

inlineinherited

Get the input normals.

Definition at line 117 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

boost::shared_ptr<std::vector<pcl::ModelCoefficients> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::getModelCoefficients ( ) const

inline

Get the vector of model coefficients to which we will compare.

Definition at line 164 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT >

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

inlineinherited

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 )

inlinevirtualinherited

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`
	)

inlineinherited

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 )

inlinevirtualinherited

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 )

inlineinherited

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 , typename PointLT >

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabels ( PointCloudLPtr & labels )

inline

...

Parameters

[in] labels

Definition at line 173 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel ( boost::shared_ptr< std::vector< int > > & label_to_model )

inline

A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.

Parameters

[in] label_to_model A vector of size max_label, with the index of each corresponding model in models

Definition at line 148 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel ( std::vector< int > & label_to_model )

inline

A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.

Parameters

[in] label_to_model A vector of size max_label, with the index of each corresponding model in models

Definition at line 157 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients ( boost::shared_ptr< std::vector< pcl::ModelCoefficients > > & models )

inline

Set the vector of model coefficients to which we will compare.

Parameters

[in] models a vector of model coefficients produced by the initial segmentation step.

Definition at line 112 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients ( std::vector< pcl::ModelCoefficients > & models )

inline

Set the vector of model coefficients to which we will compare.

Parameters

[in] models a vector of model coefficients produced by the initial segmentation step.

Definition at line 121 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT >

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

inlineinherited

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 )

inlineinherited

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.

template<typename PointT , typename PointNT , typename PointLT >

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels ( boost::shared_ptr< std::vector< bool > > & refine_labels )

inline

Set which labels should be refined.

This is a vector of bools 0-max_label, true if the label should be refined.

Parameters

[in] refine_labels A vector of bools 0-max_label, true if the label should be refined.

Definition at line 130 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >

void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels ( std::vector< bool > & refine_labels )

inline

Set which labels should be refined.

This is a vector of bools 0-max_label, true if the label should be refined.

Parameters

[in] refine_labels A vector of bools 0-max_label, true if the label should be refined.

Definition at line 139 of file plane_refinement_comparator.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/segmentation/include/pcl/segmentation/plane_refinement_comparator.h

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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