Point Cloud Library (PCL)  1.9.1-dev
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pcl::PlaneRefinementComparator< PointT, PointNT, PointLT > Class Template Reference

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

#include <pcl/segmentation/plane_refinement_comparator.h>

+ Inheritance diagram for pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >:

Public Types

using PointCloud = typename Comparator< PointT >::PointCloud
 
using PointCloudConstPtr = typename Comparator< PointT >::PointCloudConstPtr
 
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 Ptr = boost::shared_ptr< PlaneRefinementComparator< PointT, PointNT, PointLT > >
 
using ConstPtr = boost::shared_ptr< const PlaneRefinementComparator< PointT, PointNT, PointLT > >
 
- Public Types inherited from pcl::PlaneCoefficientComparator< PointT, PointNT >
using PointCloud = typename Comparator< PointT >::PointCloud
 
using PointCloudConstPtr = typename Comparator< PointT >::PointCloudConstPtr
 
using PointCloudN = pcl::PointCloud< PointNT >
 
using PointCloudNPtr = typename PointCloudN::Ptr
 
using PointCloudNConstPtr = typename PointCloudN::ConstPtr
 
using Ptr = boost::shared_ptr< PlaneCoefficientComparator< PointT, PointNT > >
 
using ConstPtr = boost::shared_ptr< const PlaneCoefficientComparator< PointT, PointNT > >
 
- Public Types inherited from pcl::Comparator< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using Ptr = boost::shared_ptr< Comparator< PointT > >
 
using ConstPtr = boost::shared_ptr< const Comparator< PointT > >
 

Public Member Functions

 PlaneRefinementComparator ()
 Empty constructor for PlaneCoefficientComparator. More...
 
 PlaneRefinementComparator (boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &models, boost::shared_ptr< std::vector< bool > > &refine_labels)
 Empty constructor for PlaneCoefficientComparator. More...
 
 ~PlaneRefinementComparator ()
 Destructor for PlaneCoefficientComparator. More...
 
void setModelCoefficients (boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &models)
 Set the vector of model coefficients to which we will compare. More...
 
void setModelCoefficients (std::vector< pcl::ModelCoefficients > &models)
 Set the vector of model coefficients to which we will compare. More...
 
void setRefineLabels (boost::shared_ptr< std::vector< bool > > &refine_labels)
 Set which labels should be refined. More...
 
void setRefineLabels (std::vector< bool > &refine_labels)
 Set which labels should be refined. More...
 
void setLabelToModel (boost::shared_ptr< std::vector< int > > &label_to_model)
 A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed. More...
 
void setLabelToModel (std::vector< int > &label_to_model)
 A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed. More...
 
boost::shared_ptr< std::vector< pcl::ModelCoefficients > > getModelCoefficients () const
 Get the vector of model coefficients to which we will compare. More...
 
void setLabels (PointCloudLPtr &labels)
 ... More...
 
bool compare (int idx1, int idx2) const override
 Compare two neighboring points. More...
 
- Public Member Functions inherited from pcl::PlaneCoefficientComparator< PointT, PointNT >
 PlaneCoefficientComparator ()
 Empty constructor for PlaneCoefficientComparator. More...
 
 PlaneCoefficientComparator (boost::shared_ptr< std::vector< float > > &plane_coeff_d)
 Constructor for PlaneCoefficientComparator. More...
 
 ~PlaneCoefficientComparator ()
 Destructor for PlaneCoefficientComparator. More...
 
void setInputCloud (const PointCloudConstPtr &cloud) override
 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...
 
- 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

boost::shared_ptr< std::vector< pcl::ModelCoefficients > > models_
 
PointCloudLPtr labels_
 
boost::shared_ptr< std::vector< bool > > refine_labels_
 
boost::shared_ptr< std::vector< int > > label_to_model_
 
bool depth_dependent_
 
- Protected Attributes inherited from pcl::PlaneCoefficientComparator< PointT, PointNT >
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, typename PointLT>
class pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >

PlaneRefinementComparator 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, Suat Gedikli

Definition at line 54 of file plane_refinement_comparator.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::ConstPtr = boost::shared_ptr<const PlaneRefinementComparator<PointT, PointNT, PointLT> >

Definition at line 69 of file plane_refinement_comparator.h.

◆ PointCloud

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

Definition at line 57 of file plane_refinement_comparator.h.

◆ PointCloudConstPtr

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

Definition at line 58 of file plane_refinement_comparator.h.

◆ PointCloudL

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

Definition at line 64 of file plane_refinement_comparator.h.

◆ PointCloudLConstPtr

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

Definition at line 66 of file plane_refinement_comparator.h.

◆ PointCloudLPtr

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

Definition at line 65 of file plane_refinement_comparator.h.

◆ PointCloudN

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

Definition at line 60 of file plane_refinement_comparator.h.

◆ PointCloudNConstPtr

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

Definition at line 62 of file plane_refinement_comparator.h.

◆ PointCloudNPtr

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

Definition at line 61 of file plane_refinement_comparator.h.

◆ Ptr

template<typename PointT , typename PointNT , typename PointLT >
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::Ptr = boost::shared_ptr<PlaneRefinementComparator<PointT, PointNT, PointLT> >

Definition at line 68 of file plane_refinement_comparator.h.

Constructor & Destructor Documentation

◆ PlaneRefinementComparator() [1/2]

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

Empty constructor for PlaneCoefficientComparator.

Definition at line 78 of file plane_refinement_comparator.h.

◆ PlaneRefinementComparator() [2/2]

template<typename PointT , typename PointNT , typename PointLT >
pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PlaneRefinementComparator ( boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &  models,
boost::shared_ptr< std::vector< bool > > &  refine_labels 
)
inline

Empty constructor for PlaneCoefficientComparator.

Parameters
[in]models
[in]refine_labels

Definition at line 88 of file plane_refinement_comparator.h.

◆ ~PlaneRefinementComparator()

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

Destructor for PlaneCoefficientComparator.

Definition at line 99 of file plane_refinement_comparator.h.

Member Function Documentation

◆ compare()

template<typename PointT , typename PointNT , typename PointLT >
bool pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::compare ( int  idx1,
int  idx2 
) const
inlineoverridevirtual

◆ getModelCoefficients()

template<typename PointT , typename PointNT , typename PointLT >
boost::shared_ptr<std::vector<pcl::ModelCoefficients> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::getModelCoefficients ( ) const
inline

Get the vector of model coefficients to which we will compare.

Definition at line 159 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.

◆ setLabels()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabels ( PointCloudLPtr labels)
inline

...

Parameters
[in]labels

Definition at line 168 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::labels_.

◆ setLabelToModel() [1/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel ( boost::shared_ptr< std::vector< int > > &  label_to_model)
inline

A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.

Parameters
[in]label_to_modelA vector of size max_label, with the index of each corresponding model in models

Definition at line 143 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_.

◆ setLabelToModel() [2/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel ( std::vector< int > &  label_to_model)
inline

A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.

Parameters
[in]label_to_modelA vector of size max_label, with the index of each corresponding model in models

Definition at line 152 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_.

◆ setModelCoefficients() [1/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients ( boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &  models)
inline

Set the vector of model coefficients to which we will compare.

Parameters
[in]modelsa vector of model coefficients produced by the initial segmentation step.

Definition at line 107 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.

◆ setModelCoefficients() [2/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients ( std::vector< pcl::ModelCoefficients > &  models)
inline

Set the vector of model coefficients to which we will compare.

Parameters
[in]modelsa vector of model coefficients produced by the initial segmentation step.

Definition at line 116 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.

◆ setRefineLabels() [1/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels ( boost::shared_ptr< std::vector< bool > > &  refine_labels)
inline

Set which labels should be refined.

This is a vector of bools 0-max_label, true if the label should be refined.

Parameters
[in]refine_labelsA vector of bools 0-max_label, true if the label should be refined.

Definition at line 125 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_.

◆ setRefineLabels() [2/2]

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels ( std::vector< bool > &  refine_labels)
inline

Set which labels should be refined.

This is a vector of bools 0-max_label, true if the label should be refined.

Parameters
[in]refine_labelsA vector of bools 0-max_label, true if the label should be refined.

Definition at line 134 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_.

Member Data Documentation

◆ depth_dependent_

template<typename PointT , typename PointNT , typename PointLT >
bool pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::depth_dependent_
protected

◆ label_to_model_

template<typename PointT , typename PointNT , typename PointLT >
boost::shared_ptr<std::vector<int> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_
protected

◆ labels_

template<typename PointT , typename PointNT , typename PointLT >
PointCloudLPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::labels_
protected

◆ models_

template<typename PointT , typename PointNT , typename PointLT >
boost::shared_ptr<std::vector<pcl::ModelCoefficients> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_
protected

◆ refine_labels_

template<typename PointT , typename PointNT , typename PointLT >
boost::shared_ptr<std::vector<bool> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_
protected

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