Point Cloud Library (PCL)  1.9.1-dev
euclidean_plane_coefficient_comparator.h
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39 
40 #pragma once
41 
42 #include <pcl/segmentation/boost.h>
43 #include <pcl/segmentation/plane_coefficient_comparator.h>
44 
45 namespace pcl
46 {
47  /** \brief EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients,
48  * for use in planar segmentation.
49  * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
50  *
51  * \author Alex Trevor
52  */
53  template<typename PointT, typename PointNT>
55  {
56  public:
60  using PointCloudNPtr = typename PointCloudN::Ptr;
62 
63  using Ptr = boost::shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> >;
64  using ConstPtr = boost::shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> >;
65 
70 
71  /** \brief Empty constructor for PlaneCoefficientComparator. */
73  {
74  }
75 
76  /** \brief Destructor for PlaneCoefficientComparator. */
77 
79  {
80  }
81 
82  /** \brief Compare two neighboring points, by using normal information, and euclidean distance information.
83  * \param[in] idx1 The index of the first point.
84  * \param[in] idx2 The index of the second point.
85  */
86  bool
87  compare (int idx1, int idx2) const override
88  {
89  float dx = input_->points[idx1].x - input_->points[idx2].x;
90  float dy = input_->points[idx1].y - input_->points[idx2].y;
91  float dz = input_->points[idx1].z - input_->points[idx2].z;
92  float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
93 
94  return ( (dist < distance_threshold_)
95  && (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ ) );
96  }
97  };
98 }
EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation.
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:58
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
EuclideanPlaneCoefficientComparator()
Empty constructor for PlaneCoefficientComparator.
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:53
boost::shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:61
bool compare(int idx1, int idx2) const override
Compare two neighboring points, by using normal information, and euclidean distance information...
boost::shared_ptr< PointCloud< PointNT > > Ptr
Definition: point_cloud.h:441
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:60
boost::shared_ptr< const PointCloud< PointNT > > ConstPtr
Definition: point_cloud.h:442
~EuclideanPlaneCoefficientComparator()
Destructor for PlaneCoefficientComparator.
PointCloudConstPtr input_
Definition: comparator.h:99