Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::PlaneCoefficientComparator< PointT, PointNT > Class Template Reference

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

#include <pcl/segmentation/plane_coefficient_comparator.h>

+ Inheritance diagram for pcl::PlaneCoefficientComparator< PointT, PointNT >:

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 boost::shared_ptr< PlaneCoefficientComparator< PointT, PointNT > > Ptr
 
typedef boost::shared_ptr< const PlaneCoefficientComparator< PointT, PointNT > > ConstPtr
 
- Public Types inherited from pcl::Comparator< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< Comparator< PointT > > Ptr
 
typedef boost::shared_ptr< const Comparator< PointT > > ConstPtr
 

Public Member Functions

 PlaneCoefficientComparator ()
 Empty constructor for PlaneCoefficientComparator. More...
 
 PlaneCoefficientComparator (boost::shared_ptr< std::vector< float > > &plane_coeff_d)
 Constructor for PlaneCoefficientComparator. More...
 
virtual ~PlaneCoefficientComparator ()
 Destructor for PlaneCoefficientComparator. 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 bool compare (int idx1, int idx2) const
 Compare points at two indices by their plane equations. More...
 
- Public Member Functions inherited from pcl::Comparator< PointT >
 Comparator ()
 Empty constructor for comparator. More...
 
virtual ~Comparator ()
 Empty destructor for comparator. More...
 
virtual PointCloudConstPtr getInputCloud () const
 Get the input cloud this comparator operates on. More...
 

Protected Attributes

PointCloudNConstPtr normals_
 
boost::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::PlaneCoefficientComparator< PointT, PointNT >

PlaneCoefficientComparator 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

Definition at line 54 of file plane_coefficient_comparator.h.

Member Typedef Documentation

template<typename PointT , typename PointNT >
typedef boost::shared_ptr<const PlaneCoefficientComparator<PointT, PointNT> > pcl::PlaneCoefficientComparator< PointT, PointNT >::ConstPtr

Definition at line 65 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >
typedef Comparator<PointT>::PointCloud pcl::PlaneCoefficientComparator< PointT, PointNT >::PointCloud

Definition at line 57 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >
typedef Comparator<PointT>::PointCloudConstPtr pcl::PlaneCoefficientComparator< PointT, PointNT >::PointCloudConstPtr

Definition at line 58 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >
typedef pcl::PointCloud<PointNT> pcl::PlaneCoefficientComparator< PointT, PointNT >::PointCloudN

Definition at line 60 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >
typedef PointCloudN::ConstPtr pcl::PlaneCoefficientComparator< PointT, PointNT >::PointCloudNConstPtr

Definition at line 62 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >
typedef PointCloudN::Ptr pcl::PlaneCoefficientComparator< PointT, PointNT >::PointCloudNPtr

Definition at line 61 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >
typedef boost::shared_ptr<PlaneCoefficientComparator<PointT, PointNT> > pcl::PlaneCoefficientComparator< PointT, PointNT >::Ptr

Definition at line 64 of file plane_coefficient_comparator.h.

Constructor & Destructor Documentation

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

Empty constructor for PlaneCoefficientComparator.

Definition at line 70 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >
pcl::PlaneCoefficientComparator< PointT, PointNT >::PlaneCoefficientComparator ( boost::shared_ptr< std::vector< float > > &  plane_coeff_d)
inline

Constructor for PlaneCoefficientComparator.

Parameters
[in]plane_coeff_da 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 83 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >
virtual pcl::PlaneCoefficientComparator< PointT, PointNT >::~PlaneCoefficientComparator ( )
inlinevirtual

Destructor for PlaneCoefficientComparator.

Definition at line 95 of file plane_coefficient_comparator.h.

Member Function Documentation

template<typename PointT , typename PointNT >
virtual bool pcl::PlaneCoefficientComparator< PointT, PointNT >::compare ( int  idx1,
int  idx2 
) const
inlinevirtual
template<typename PointT , typename PointNT >
float pcl::PlaneCoefficientComparator< PointT, PointNT >::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 157 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_.

template<typename PointT , typename PointNT >
float pcl::PlaneCoefficientComparator< PointT, PointNT >::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 176 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_.

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

Get the input normals.

Definition at line 116 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_.

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

Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.

Definition at line 141 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::plane_coeff_d_.

template<typename PointT , typename PointNT >
virtual void pcl::PlaneCoefficientComparator< PointT, PointNT >::setAngularThreshold ( float  angular_threshold)
inlinevirtual

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

Parameters
[in]angular_thresholdthe tolerance in radians

Definition at line 150 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_.

template<typename PointT , typename PointNT >
void pcl::PlaneCoefficientComparator< PointT, PointNT >::setDistanceThreshold ( float  distance_threshold,
bool  depth_dependent = false 
)
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_thresholdthe tolerance in meters (at 1m)
[in]depth_dependentwhether to scale the threshold based on range from the sensor (default: false)

Definition at line 167 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::depth_dependent_, and pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_.

template<typename PointT , typename PointNT >
virtual void pcl::PlaneCoefficientComparator< PointT, PointNT >::setInputCloud ( const PointCloudConstPtr cloud)
inlinevirtual

Set the input cloud for the comparator.

Parameters
[in]cloudthe point cloud this comparator will operate on

Reimplemented from pcl::Comparator< PointT >.

Definition at line 100 of file plane_coefficient_comparator.h.

References pcl::Comparator< PointT >::input_.

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

Provide a pointer to the input normals.

Parameters
[in]normalsthe input normal cloud

Definition at line 109 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_.

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

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_da pointer to the plane coefficients.

Definition at line 125 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::plane_coeff_d_.

template<typename PointT , typename PointNT >
void pcl::PlaneCoefficientComparator< PointT, PointNT >::setPlaneCoeffD ( std::vector< float > &  plane_coeff_d)
inline

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_da pointer to the plane coefficients.

Definition at line 134 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::plane_coeff_d_.

Member Data Documentation

template<typename PointT , typename PointNT >
float pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_
protected
template<typename PointT , typename PointNT >
bool pcl::PlaneCoefficientComparator< PointT, PointNT >::depth_dependent_
protected
template<typename PointT , typename PointNT >
float pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_
protected
template<typename PointT , typename PointNT >
PointCloudNConstPtr pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_
protected
template<typename PointT , typename PointNT >
boost::shared_ptr<std::vector<float> > pcl::PlaneCoefficientComparator< PointT, PointNT >::plane_coeff_d_
protected
template<typename PointT , typename PointNT >
Eigen::Vector3f pcl::PlaneCoefficientComparator< PointT, PointNT >::z_axis_
protected

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