point_cloud_library / 1.12.1 / classpcl_1_1_organized_multi_plane_segmentation.html /

OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of plane equations, as well as a vector of point clouds corresponding to the inliers of each detected plane. More...

#include <pcl/segmentation/organized_multi_plane_segmentation.h>

Public Types
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointCloudN = pcl::PointCloud< PointNT >
using PointCloudNPtr = typename PointCloudN::Ptr
using PointCloudNConstPtr = typename PointCloudN::ConstPtr
using PointCloudL = pcl::PointCloud< PointLT >
using PointCloudLPtr = typename PointCloudL::Ptr
using PointCloudLConstPtr = typename PointCloudL::ConstPtr
using PlaneComparator = pcl::PlaneCoefficientComparator< PointT, PointNT >
using PlaneComparatorPtr = typename PlaneComparator::Ptr
using PlaneComparatorConstPtr = typename PlaneComparator::ConstPtr
using PlaneRefinementComparator = pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >
using PlaneRefinementComparatorPtr = typename PlaneRefinementComparator::Ptr
using PlaneRefinementComparatorConstPtr = typename PlaneRefinementComparator::ConstPtr
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
OrganizedMultiPlaneSegmentation ()
Constructor for OrganizedMultiPlaneSegmentation. More...
~OrganizedMultiPlaneSegmentation ()
Destructor for OrganizedMultiPlaneSegmentation. More...
void setInputNormals (const PointCloudNConstPtr &normals)
Provide a pointer to the input normals. More...
PointCloudNConstPtr getInputNormals () const
Get the input normals. More...
void setMinInliers (unsigned min_inliers)
Set the minimum number of inliers required for a plane. More...
unsigned getMinInliers () const
Get the minimum number of inliers required per plane. More...
void setAngularThreshold (double angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. More...
double 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 (double distance_threshold)
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...
double 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...
void setMaximumCurvature (double maximum_curvature)
Set the maximum curvature allowed for a planar region. More...
double getMaximumCurvature () const
Get the maximum curvature allowed for a planar region. More...
void setComparator (const PlaneComparatorPtr &compare)
Provide a pointer to the comparator to be used for segmentation. More...
void setRefinementComparator (const PlaneRefinementComparatorPtr &compare)
Provide a pointer to the comparator to be used for refinement. More...
void setProjectPoints (bool project_points)
Set whether or not to project boundary points to the plane, or leave them in the original 3D space. More...
void segment (std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &centroids, std::vector< Eigen::Matrix3f, Eigen::aligned_allocator< Eigen::Matrix3f > > &covariances, pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices)
Segmentation of all planes in a point cloud given by setInputCloud(), setIndices() More...
void segment (std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices)
Segmentation of all planes in a point cloud given by setInputCloud(), setIndices() More...
void segment (std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions)
Segmentation of all planes in a point cloud given by setInputCloud(), setIndices() More...
void segmentAndRefine (std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions)
Perform a segmentation, as well as an additional refinement step. More...
void segmentAndRefine (std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions, std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, PointCloudLPtr &labels, std::vector< pcl::PointIndices > &label_indices, std::vector< pcl::PointIndices > &boundary_indices)
Perform a segmentation, as well as additional refinement step. More...
void refine (std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, PointCloudLPtr &labels, std::vector< pcl::PointIndices > &label_indices)
Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation. More...
- Public Member Functions inherited from pcl::PCLBase< PointT >
PCLBase ()
Empty constructor. More...
PCLBase (const PCLBase &base)
Copy constructor. More...
virtual ~PCLBase ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr getInputCloud () const
Get a pointer to the input point cloud dataset. More...
virtual void setIndices (const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const IndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const PointIndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
Set the indices for the points laying within an interest region of the point cloud. More...
IndicesPtr getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
const PointT & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...

Protected Member Functions
virtual std::string getClassName () const
Class getName method. More...
- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
This method should get called before starting the actual computation. More...
bool deinitCompute ()
This method should get called after finishing the actual computation. More...

Protected Attributes
PointCloudNConstPtr normals_
A pointer to the input normals. More...
unsigned min_inliers_
The minimum number of inliers required for each plane. More...
double angular_threshold_
The tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. More...
double distance_threshold_
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...
double maximum_curvature_
The tolerance for maximum curvature after fitting a plane. More...
bool project_points_
Whether or not points should be projected to the plane, or left in the original 3D space. More...
PlaneComparatorPtr compare_
A comparator for comparing neighboring pixels' plane equations. More...
PlaneRefinementComparatorPtr refinement_compare_
A comparator for use on the refinement step. More...
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
The input point cloud dataset. More...
IndicesPtr indices_
A pointer to the vector of point indices to use. More...
bool use_indices_
Set to true if point indices are used. More...
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

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

OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of plane equations, as well as a vector of point clouds corresponding to the inliers of each detected plane.

Only planes with more than min_inliers points are detected. Templated on point type, normal type, and label type

Author
Alex Trevor, Suat Gedikli

Definition at line 63 of file organized_multi_plane_segmentation.h.

Member Typedef Documentation

PlaneComparator

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneComparator = pcl::PlaneCoefficientComparator<PointT, PointNT>

Definition at line 83 of file organized_multi_plane_segmentation.h.

PlaneComparatorConstPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneComparatorConstPtr = typename PlaneComparator::ConstPtr

Definition at line 85 of file organized_multi_plane_segmentation.h.

PlaneComparatorPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneComparatorPtr = typename PlaneComparator::Ptr

Definition at line 84 of file organized_multi_plane_segmentation.h.

PlaneRefinementComparator

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneRefinementComparator = pcl::PlaneRefinementComparator<PointT, PointNT, PointLT>

Definition at line 87 of file organized_multi_plane_segmentation.h.

PlaneRefinementComparatorConstPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneRefinementComparatorConstPtr = typename PlaneRefinementComparator::ConstPtr

Definition at line 89 of file organized_multi_plane_segmentation.h.

PlaneRefinementComparatorPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneRefinementComparatorPtr = typename PlaneRefinementComparator::Ptr

Definition at line 88 of file organized_multi_plane_segmentation.h.

PointCloud

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 71 of file organized_multi_plane_segmentation.h.

PointCloudConstPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 73 of file organized_multi_plane_segmentation.h.

PointCloudL

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudL = pcl::PointCloud<PointLT>

Definition at line 79 of file organized_multi_plane_segmentation.h.

PointCloudLConstPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudLConstPtr = typename PointCloudL::ConstPtr

Definition at line 81 of file organized_multi_plane_segmentation.h.

PointCloudLPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudLPtr = typename PointCloudL::Ptr

Definition at line 80 of file organized_multi_plane_segmentation.h.

PointCloudN

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudN = pcl::PointCloud<PointNT>

Definition at line 75 of file organized_multi_plane_segmentation.h.

PointCloudNConstPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr

Definition at line 77 of file organized_multi_plane_segmentation.h.

PointCloudNPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudNPtr = typename PointCloudN::Ptr

Definition at line 76 of file organized_multi_plane_segmentation.h.

PointCloudPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 72 of file organized_multi_plane_segmentation.h.

Constructor & Destructor Documentation

OrganizedMultiPlaneSegmentation()

template<typename PointT , typename PointNT , typename PointLT >
pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::OrganizedMultiPlaneSegmentation ( )
inline

Constructor for OrganizedMultiPlaneSegmentation.

Definition at line 92 of file organized_multi_plane_segmentation.h.

~OrganizedMultiPlaneSegmentation()

template<typename PointT , typename PointNT , typename PointLT >
pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::~OrganizedMultiPlaneSegmentation ( )
inline

Destructor for OrganizedMultiPlaneSegmentation.

Definition at line 105 of file organized_multi_plane_segmentation.h.

Member Function Documentation

getAngularThreshold()

template<typename PointT , typename PointNT , typename PointLT >
double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::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 152 of file organized_multi_plane_segmentation.h.

getClassName()

template<typename PointT , typename PointNT , typename PointLT >
virtual std::string pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getClassName ( ) const
inlineprotectedvirtual

Class getName method.

Definition at line 309 of file organized_multi_plane_segmentation.h.

getDistanceThreshold()

template<typename PointT , typename PointNT , typename PointLT >
double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::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 168 of file organized_multi_plane_segmentation.h.

getInputNormals()

template<typename PointT , typename PointNT , typename PointLT >
PointCloudNConstPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getInputNormals ( ) const
inline

Get the input normals.

Definition at line 120 of file organized_multi_plane_segmentation.h.

getMaximumCurvature()

template<typename PointT , typename PointNT , typename PointLT >
double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getMaximumCurvature ( ) const
inline

Get the maximum curvature allowed for a planar region.

Definition at line 184 of file organized_multi_plane_segmentation.h.

getMinInliers()

template<typename PointT , typename PointNT , typename PointLT >
unsigned pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getMinInliers ( ) const
inline

Get the minimum number of inliers required per plane.

Definition at line 136 of file organized_multi_plane_segmentation.h.

refine()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::refine ( std::vector< ModelCoefficients > & model_coefficients,
std::vector< PointIndices > & inlier_indices,
PointCloudLPtr & labels,
std::vector< pcl::PointIndices > & label_indices
)

Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.

Parameters
[in] model_coefficients The list of segmented model coefficients
[in] inlier_indices The list of segmented inlier indices, corresponding to each model
[in] labels The labels produced by the initial segmentation
[in] label_indices The list of indices corresponding to each label

Definition at line 321 of file organized_multi_plane_segmentation.hpp.

segment() [1/3]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment ( std::vector< ModelCoefficients > & model_coefficients,
std::vector< PointIndices > & inlier_indices
)

Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()

Parameters
[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud
[out] inlier_indices a vector of inliers for each detected plane

Definition at line 71 of file organized_multi_plane_segmentation.hpp.

segment() [2/3]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment ( std::vector< ModelCoefficients > & model_coefficients,
std::vector< PointIndices > & inlier_indices,
std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & centroids,
std::vector< Eigen::Matrix3f, Eigen::aligned_allocator< Eigen::Matrix3f > > & covariances,
pcl::PointCloud< PointLT > & labels,
std::vector< pcl::PointIndices > & label_indices
)

Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()

Parameters
[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud
[out] inlier_indices a vector of inliers for each detected plane
[out] centroids a vector of centroids for each plane
[out] covariances a vector of covariance matricies for the inliers of each plane
[out] labels a point cloud for the connected component labels of each pixel
[out] label_indices a vector of PointIndices for each labeled component

Definition at line 83 of file organized_multi_plane_segmentation.hpp.

segment() [3/3]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment ( std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > & regions )

Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()

Parameters
[out] regions a list of resultant planar polygonal regions

Definition at line 196 of file organized_multi_plane_segmentation.hpp.

segmentAndRefine() [1/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segmentAndRefine ( std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > & regions )

Perform a segmentation, as well as an additional refinement step.

This helps with including points whose normals may not match neighboring points well, but may match the planar model well.

Parameters
[out] regions A list of regions generated by segmentation and refinement.

Definition at line 233 of file organized_multi_plane_segmentation.hpp.

segmentAndRefine() [2/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segmentAndRefine ( std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > & regions,
std::vector< ModelCoefficients > & model_coefficients,
std::vector< PointIndices > & inlier_indices,
PointCloudLPtr & labels,
std::vector< pcl::PointIndices > & label_indices,
std::vector< pcl::PointIndices > & boundary_indices
)

Perform a segmentation, as well as additional refinement step.

Returns intermediate data structures for use in subsequent processing.

Parameters
[out] regions A vector of PlanarRegions generated by segmentation
[out] model_coefficients A vector of model coefficients for each segmented plane
[out] inlier_indices A vector of PointIndices, indicating the inliers to each segmented plane
[out] labels A PointCloud<PointLT> corresponding to the resulting segmentation.
[out] label_indices A vector of PointIndices for each label
[out] boundary_indices A vector of PointIndices corresponding to the outer boundary / contour of each label

Definition at line 277 of file organized_multi_plane_segmentation.hpp.

setAngularThreshold()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setAngularThreshold ( double angular_threshold )
inline

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 145 of file organized_multi_plane_segmentation.h.

setComparator()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setComparator ( const PlaneComparatorPtr & compare )
inline

Provide a pointer to the comparator to be used for segmentation.

Parameters
[in] compare A pointer to the comparator to be used for segmentation.

Definition at line 193 of file organized_multi_plane_segmentation.h.

setDistanceThreshold()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setDistanceThreshold ( double distance_threshold )
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

Definition at line 161 of file organized_multi_plane_segmentation.h.

setInputNormals()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setInputNormals ( const PointCloudNConstPtr & normals )
inline

Provide a pointer to the input normals.

Parameters
[in] normals the input normal cloud

Definition at line 113 of file organized_multi_plane_segmentation.h.

setMaximumCurvature()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setMaximumCurvature ( double maximum_curvature )
inline

Set the maximum curvature allowed for a planar region.

Parameters
[in] maximum_curvature the maximum curvature

Definition at line 177 of file organized_multi_plane_segmentation.h.

setMinInliers()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setMinInliers ( unsigned min_inliers )
inline

Set the minimum number of inliers required for a plane.

Parameters
[in] min_inliers the minimum number of inliers required per plane

Definition at line 129 of file organized_multi_plane_segmentation.h.

setProjectPoints()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setProjectPoints ( bool project_points )
inline

Set whether or not to project boundary points to the plane, or leave them in the original 3D space.

Parameters
[in] project_points true if points should be projected, false if not.

Definition at line 211 of file organized_multi_plane_segmentation.h.

setRefinementComparator()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setRefinementComparator ( const PlaneRefinementComparatorPtr & compare )
inline

Provide a pointer to the comparator to be used for refinement.

Parameters
[in] compare A pointer to the comparator to be used for refinement.

Definition at line 202 of file organized_multi_plane_segmentation.h.

Member Data Documentation

angular_threshold_

template<typename PointT , typename PointNT , typename PointLT >
double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::angular_threshold_
protected

The tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Definition at line 290 of file organized_multi_plane_segmentation.h.

Referenced by pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::getAngularThreshold(), and pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::setAngularThreshold().

compare_

template<typename PointT , typename PointNT , typename PointLT >
PlaneComparatorPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::compare_
protected

A comparator for comparing neighboring pixels' plane equations.

Definition at line 302 of file organized_multi_plane_segmentation.h.

Referenced by pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::setComparator().

distance_threshold_

template<typename PointT , typename PointNT , typename PointLT >
double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::distance_threshold_
protected

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.

Definition at line 293 of file organized_multi_plane_segmentation.h.

Referenced by pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::getDistanceThreshold(), and pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::setDistanceThreshold().

maximum_curvature_

template<typename PointT , typename PointNT , typename PointLT >
double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::maximum_curvature_
protected

The tolerance for maximum curvature after fitting a plane.

Used to remove smooth, but non-planar regions.

Definition at line 296 of file organized_multi_plane_segmentation.h.

Referenced by pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::getMaximumCurvature(), and pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::setMaximumCurvature().

min_inliers_

template<typename PointT , typename PointNT , typename PointLT >
unsigned pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::min_inliers_
protected

The minimum number of inliers required for each plane.

Definition at line 287 of file organized_multi_plane_segmentation.h.

Referenced by pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::getMinInliers(), and pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::setMinInliers().

normals_

template<typename PointT , typename PointNT , typename PointLT >
PointCloudNConstPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::normals_
protected

A pointer to the input normals.

Definition at line 284 of file organized_multi_plane_segmentation.h.

Referenced by pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::getInputNormals(), and pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::setInputNormals().

project_points_

template<typename PointT , typename PointNT , typename PointLT >
bool pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::project_points_
protected

Whether or not points should be projected to the plane, or left in the original 3D space.

Definition at line 299 of file organized_multi_plane_segmentation.h.

Referenced by pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::setProjectPoints().

refinement_compare_

template<typename PointT , typename PointNT , typename PointLT >
PlaneRefinementComparatorPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::refinement_compare_
protected

A comparator for use on the refinement step.

Compares points to regions segmented in the first pass.

Definition at line 305 of file organized_multi_plane_segmentation.h.

Referenced by pcl::OrganizedMultiPlaneSegmentation< pcl::PointXYZRGBA, pcl::Normal, pcl::Label >::setRefinementComparator().

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_organized_multi_plane_segmentation.html

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Last Updated 2021-12-29T19:25:09Z