Point Cloud Library (PCL)  1.10.1-dev
rgb_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 RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients,
48  * for use in planar segmentation. Also takes into account RGB, so we can segmented different colored co-planar regions.
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:
59 
61  using PointCloudNPtr = typename PointCloudN::Ptr;
63 
66 
71 
72  /** \brief Empty constructor for RGBPlaneCoefficientComparator. */
74  : color_threshold_ (50.0f)
75  {
76  }
77 
78  /** \brief Constructor for RGBPlaneCoefficientComparator.
79  * \param[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.
80  */
81  RGBPlaneCoefficientComparator (shared_ptr<std::vector<float> >& plane_coeff_d)
82  : PlaneCoefficientComparator<PointT, PointNT> (plane_coeff_d), color_threshold_ (50.0f)
83  {
84  }
85 
86  /** \brief Destructor for RGBPlaneCoefficientComparator. */
87 
89  {
90  }
91 
92  /** \brief Set the tolerance in color space between neighboring points, to be considered part of the same plane.
93  * \param[in] color_threshold The distance in color space
94  */
95  inline void
96  setColorThreshold (float color_threshold)
97  {
98  color_threshold_ = color_threshold * color_threshold;
99  }
100 
101  /** \brief Get the color threshold between neighboring points, to be considered part of the same plane. */
102  inline float
104  {
105  return (color_threshold_);
106  }
107 
108  /** \brief Compare two neighboring points, by using normal information, euclidean distance, and color information.
109  * \param[in] idx1 The index of the first point.
110  * \param[in] idx2 The index of the second point.
111  */
112  bool
113  compare (int idx1, int idx2) const override
114  {
115  float dx = input_->points[idx1].x - input_->points[idx2].x;
116  float dy = input_->points[idx1].y - input_->points[idx2].y;
117  float dz = input_->points[idx1].z - input_->points[idx2].z;
118  float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
119  int dr = input_->points[idx1].r - input_->points[idx2].r;
120  int dg = input_->points[idx1].g - input_->points[idx2].g;
121  int db = input_->points[idx1].b - input_->points[idx2].b;
122  //Note: This is not the best metric for color comparisons, we should probably use HSV space.
123  float color_dist = static_cast<float> (dr*dr + dg*dg + db*db);
124  return ( (dist < distance_threshold_)
125  && (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ )
126  && (color_dist < color_threshold_));
127  }
128 
129  protected:
131  };
132 }
shared_ptr< PointCloud< PointNT > > Ptr
Definition: point_cloud.h:414
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:59
~RGBPlaneCoefficientComparator()
Destructor for RGBPlaneCoefficientComparator.
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:54
float getColorThreshold() const
Get the color threshold between neighboring points, to be considered part of the same plane...
RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation.
void setColorThreshold(float color_threshold)
Set the tolerance in color space between neighboring points, to be considered part of the same plane...
RGBPlaneCoefficientComparator(shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for RGBPlaneCoefficientComparator.
shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:62
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
RGBPlaneCoefficientComparator()
Empty constructor for RGBPlaneCoefficientComparator.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
typename PointCloudN::ConstPtr PointCloudNConstPtr
shared_ptr< const PointCloud< PointNT > > ConstPtr
Definition: point_cloud.h:415
shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:61
PointCloudConstPtr input_
Definition: comparator.h:100
A point structure representing Euclidean xyz coordinates, and the RGB color.
bool compare(int idx1, int idx2) const override
Compare two neighboring points, by using normal information, euclidean distance, and color informatio...
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: memory.h:81