rgb_plane_coefficient_comparator.h

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#ifndef PCL_RGB_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
#define PCL_RGB_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_

#include <pcl/segmentation/plane_coefficient_comparator.h>
#include <boost/make_shared.hpp>

namespace pcl
{
  template<typename PointT, typename PointNT>
  class RGBPlaneCoefficientComparator: public PlaneCoefficientComparator<PointT, PointNT>
  {
    public:
      typedef typename Comparator<PointT>::PointCloud PointCloud;
      typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
      
      typedef typename pcl::PointCloud<PointNT> PointCloudN;
      typedef typename PointCloudN::Ptr PointCloudNPtr;
      typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
      
      typedef boost::shared_ptr<RGBPlaneCoefficientComparator<PointT, PointNT> > Ptr;
      typedef boost::shared_ptr<const RGBPlaneCoefficientComparator<PointT, PointNT> > ConstPtr;

      using pcl::Comparator<PointT>::input_;
      using pcl::PlaneCoefficientComparator<PointT, PointNT>::normals_;
      using pcl::PlaneCoefficientComparator<PointT, PointNT>::angular_threshold_;
      using pcl::PlaneCoefficientComparator<PointT, PointNT>::distance_threshold_;

      RGBPlaneCoefficientComparator ()
        : color_threshold_ (50.0f)
      {
      }

      RGBPlaneCoefficientComparator (boost::shared_ptr<std::vector<float> >& plane_coeff_d) 
        : PlaneCoefficientComparator<PointT, PointNT> (plane_coeff_d), color_threshold_ (50.0f)
      {
      }
      
      virtual
      ~RGBPlaneCoefficientComparator ()
      {
      }

      inline void
      setColorThreshold (float color_threshold)
      {
        color_threshold_ = color_threshold * color_threshold;
      }

      inline float
      getColorThreshold () const
      {
        return (color_threshold_);
      }

      bool
      compare (int idx1, int idx2) const
      {
        float dx = input_->points[idx1].x - input_->points[idx2].x;
        float dy = input_->points[idx1].y - input_->points[idx2].y;
        float dz = input_->points[idx1].z - input_->points[idx2].z;
        float dist = sqrtf (dx*dx + dy*dy + dz*dz);
        int dr = input_->points[idx1].r - input_->points[idx2].r;
        int dg = input_->points[idx1].g - input_->points[idx2].g;
        int db = input_->points[idx1].b - input_->points[idx2].b;
        //Note: This is not the best metric for color comparisons, we should probably use HSV space.
        float color_dist = static_cast<float> (dr*dr + dg*dg + db*db);
        return ( (dist < distance_threshold_)
                 && (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ )
                 && (color_dist < color_threshold_));
      }
      
    protected:
      float color_threshold_;
  };
}

#endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_