RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. More...
#include <pcl/segmentation/rgb_plane_coefficient_comparator.h>
Public Member Functions |
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| RGBPlaneCoefficientComparator () | |
| Empty constructor for RGBPlaneCoefficientComparator. More... |
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| RGBPlaneCoefficientComparator (shared_ptr< std::vector< float > > &plane_coeff_d) | |
| Constructor for RGBPlaneCoefficientComparator. More... |
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| ~RGBPlaneCoefficientComparator () | |
| Destructor for RGBPlaneCoefficientComparator. More... |
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| void | setColorThreshold (float color_threshold) |
| Set the tolerance in color space between neighboring points, to be considered part of the same plane. More... |
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| float | getColorThreshold () const |
| Get the color threshold 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 two neighboring points, by using normal information, euclidean distance, and color information. More... |
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 Public Member Functions inherited from pcl::PlaneCoefficientComparator< PointT, PointNT > |
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| 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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| Public Member Functions inherited from pcl::Comparator< PointT > |
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| 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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Protected Attributes |
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| float | color_threshold_ |
| Protected Attributes inherited from pcl::PlaneCoefficientComparator< PointT, PointNT > |
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| 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 > |
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| PointCloudConstPtr | input_ |
Detailed Description
template<typename PointT, typename PointNT>
class pcl::RGBPlaneCoefficientComparator< PointT, PointNT >
RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation.
Also takes into account RGB, so we can segmented different colored co-planar regions. In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
Definition at line 53 of file rgb_plane_coefficient_comparator.h.
Member Typedef Documentation
ConstPtr
| using pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::ConstPtr = shared_ptr<const RGBPlaneCoefficientComparator<PointT, PointNT> > |
Definition at line 64 of file rgb_plane_coefficient_comparator.h.
PointCloud
| using pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::PointCloud = typename Comparator<PointT>::PointCloud |
Definition at line 56 of file rgb_plane_coefficient_comparator.h.
PointCloudConstPtr
| using pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::PointCloudConstPtr = typename Comparator<PointT>::PointCloudConstPtr |
Definition at line 57 of file rgb_plane_coefficient_comparator.h.
PointCloudN
| using pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::PointCloudN = pcl::PointCloud<PointNT> |
Definition at line 59 of file rgb_plane_coefficient_comparator.h.
PointCloudNConstPtr
| using pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr |
Definition at line 61 of file rgb_plane_coefficient_comparator.h.
PointCloudNPtr
| using pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::PointCloudNPtr = typename PointCloudN::Ptr |
Definition at line 60 of file rgb_plane_coefficient_comparator.h.
Ptr
| using pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::Ptr = shared_ptr<RGBPlaneCoefficientComparator<PointT, PointNT> > |
Definition at line 63 of file rgb_plane_coefficient_comparator.h.
Constructor & Destructor Documentation
RGBPlaneCoefficientComparator() [1/2]
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inline |
Empty constructor for RGBPlaneCoefficientComparator.
Definition at line 72 of file rgb_plane_coefficient_comparator.h.
RGBPlaneCoefficientComparator() [2/2]
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inline |
Constructor for RGBPlaneCoefficientComparator.
- Parameters
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[in] plane_coeff_d a reference to a vector of d coefficients of plane equations. Must be the same size as the input cloud and input normals. a, b, and c coefficients are in the input normals.
Definition at line 80 of file rgb_plane_coefficient_comparator.h.
~RGBPlaneCoefficientComparator()
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inline |
Destructor for RGBPlaneCoefficientComparator.
Definition at line 87 of file rgb_plane_coefficient_comparator.h.
Member Function Documentation
compare()
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inlineoverridevirtual |
Compare two neighboring points, by using normal information, euclidean distance, and color information.
- Parameters
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[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 112 of file rgb_plane_coefficient_comparator.h.
References pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_, pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::color_threshold_, pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_, and pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_.
getColorThreshold()
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inline |
Get the color threshold between neighboring points, to be considered part of the same plane.
Definition at line 102 of file rgb_plane_coefficient_comparator.h.
References pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::color_threshold_.
setColorThreshold()
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inline |
Set the tolerance in color space between neighboring points, to be considered part of the same plane.
- Parameters
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[in] color_threshold The distance in color space
Definition at line 95 of file rgb_plane_coefficient_comparator.h.
References pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::color_threshold_.
Member Data Documentation
color_threshold_
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protected |
Definition at line 129 of file rgb_plane_coefficient_comparator.h.
Referenced by pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::compare(), pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::getColorThreshold(), and pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::setColorThreshold().
The documentation for this class was generated from the following file:
- pcl/segmentation/rgb_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_r_g_b_plane_coefficient_comparator.html
