EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. More...
#include <pcl/segmentation/euclidean_plane_coefficient_comparator.h>
Public Member Functions |
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EuclideanPlaneCoefficientComparator () | |
Empty constructor for PlaneCoefficientComparator. More... |
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~EuclideanPlaneCoefficientComparator () | |
Destructor for PlaneCoefficientComparator. More... |
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bool | compare (int idx1, int idx2) const override |
Compare two neighboring points, by using normal information, and euclidean distance information. More... |
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Public Member Functions inherited from pcl::PlaneCoefficientComparator< PointT, PointNT > | |
PlaneCoefficientComparator () | |
Empty constructor for PlaneCoefficientComparator. More... |
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PlaneCoefficientComparator (shared_ptr< std::vector< float > > &plane_coeff_d) | |
Constructor for PlaneCoefficientComparator. More... |
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~PlaneCoefficientComparator () | |
Destructor for PlaneCoefficientComparator. More... |
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void | setInputCloud (const PointCloudConstPtr &cloud) override |
Set the input cloud for the comparator. More... |
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void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input normals. More... |
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PointCloudNConstPtr | getInputNormals () const |
Get the input normals. More... |
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void | setPlaneCoeffD (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... |
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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... |
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const std::vector< float > & | getPlaneCoeffD () const |
Get a pointer to the vector of the d-coefficient of the planes' hessian normal form. More... |
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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... |
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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... |
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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... |
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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... |
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bool | compare (int idx1, int idx2) const override |
Compare points at two indices by their plane equations. More... |
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Public Member Functions inherited from pcl::Comparator< PointT > | |
Comparator () | |
Empty constructor for comparator. More... |
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virtual | ~Comparator () |
Empty destructor for comparator. More... |
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virtual PointCloudConstPtr | getInputCloud () const |
Get the input cloud this comparator operates on. More... |
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Additional Inherited Members |
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Protected Attributes inherited from pcl::PlaneCoefficientComparator< PointT, PointNT > | |
PointCloudNConstPtr | normals_ |
shared_ptr< std::vector< float > > | plane_coeff_d_ |
float | angular_threshold_ |
float | distance_threshold_ |
bool | depth_dependent_ |
Eigen::Vector3f | z_axis_ |
Protected Attributes inherited from pcl::Comparator< PointT > | |
PointCloudConstPtr | input_ |
Detailed Description
template<typename PointT, typename PointNT>
class pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >
EuclideanPlaneCoefficientComparator 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.
Definition at line 53 of file euclidean_plane_coefficient_comparator.h.
Member Typedef Documentation
ConstPtr
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::ConstPtr = shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> > |
Definition at line 63 of file euclidean_plane_coefficient_comparator.h.
PointCloud
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloud = typename Comparator<PointT>::PointCloud |
Definition at line 56 of file euclidean_plane_coefficient_comparator.h.
PointCloudConstPtr
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudConstPtr = typename Comparator<PointT>::PointCloudConstPtr |
Definition at line 57 of file euclidean_plane_coefficient_comparator.h.
PointCloudN
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudN = pcl::PointCloud<PointNT> |
Definition at line 58 of file euclidean_plane_coefficient_comparator.h.
PointCloudNConstPtr
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr |
Definition at line 60 of file euclidean_plane_coefficient_comparator.h.
PointCloudNPtr
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::PointCloudNPtr = typename PointCloudN::Ptr |
Definition at line 59 of file euclidean_plane_coefficient_comparator.h.
Ptr
using pcl::EuclideanPlaneCoefficientComparator< PointT, PointNT >::Ptr = shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> > |
Definition at line 62 of file euclidean_plane_coefficient_comparator.h.
Constructor & Destructor Documentation
EuclideanPlaneCoefficientComparator()
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inline |
Empty constructor for PlaneCoefficientComparator.
Definition at line 71 of file euclidean_plane_coefficient_comparator.h.
~EuclideanPlaneCoefficientComparator()
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inline |
Destructor for PlaneCoefficientComparator.
Definition at line 77 of file euclidean_plane_coefficient_comparator.h.
Member Function Documentation
compare()
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inlineoverridevirtual |
Compare two neighboring points, by using normal information, and euclidean distance information.
- Parameters
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[in] idx1 The index of the first point. [in] idx2 The index of the second point.
Implements pcl::Comparator< PointT >.
Definition at line 86 of file euclidean_plane_coefficient_comparator.h.
References pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_, pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_, and pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_.
The documentation for this class was generated from the following file:
- pcl/segmentation/euclidean_plane_coefficient_comparator.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_euclidean_plane_coefficient_comparator.html