Point Cloud Library (PCL)  1.14.1-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 >:
+ Collaboration diagram for pcl::PlaneCoefficientComparator< PointT, PointNT >:

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 Ptr = shared_ptr< PlaneCoefficientComparator< PointT, PointNT > >
 
using ConstPtr = 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 = shared_ptr< Comparator< PointT > >
 
using ConstPtr = shared_ptr< const Comparator< PointT > >
 

Public Member Functions

 PlaneCoefficientComparator ()
 Empty constructor for PlaneCoefficientComparator. More...
 
 PlaneCoefficientComparator (shared_ptr< std::vector< float > > &plane_coeff_d)
 Constructor for PlaneCoefficientComparator. More...
 
 ~PlaneCoefficientComparator () override=default
 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 (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...
 
bool compare (int idx1, int idx2) const override
 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 ()=default
 Empty destructor for comparator. More...
 
virtual PointCloudConstPtr getInputCloud () const
 Get the input cloud this comparator operates on. More...
 

Protected Attributes

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 >
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 55 of file plane_coefficient_comparator.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename PointNT >
using pcl::PlaneCoefficientComparator< PointT, PointNT >::ConstPtr = shared_ptr<const PlaneCoefficientComparator<PointT, PointNT> >

Definition at line 66 of file plane_coefficient_comparator.h.

◆ PointCloud

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

Definition at line 58 of file plane_coefficient_comparator.h.

◆ PointCloudConstPtr

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

Definition at line 59 of file plane_coefficient_comparator.h.

◆ PointCloudN

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

Definition at line 61 of file plane_coefficient_comparator.h.

◆ PointCloudNConstPtr

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

Definition at line 63 of file plane_coefficient_comparator.h.

◆ PointCloudNPtr

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

Definition at line 62 of file plane_coefficient_comparator.h.

◆ Ptr

template<typename PointT , typename PointNT >
using pcl::PlaneCoefficientComparator< PointT, PointNT >::Ptr = shared_ptr<PlaneCoefficientComparator<PointT, PointNT> >

Definition at line 65 of file plane_coefficient_comparator.h.

Constructor & Destructor Documentation

◆ PlaneCoefficientComparator() [1/2]

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

Empty constructor for PlaneCoefficientComparator.

Definition at line 71 of file plane_coefficient_comparator.h.

◆ PlaneCoefficientComparator() [2/2]

template<typename PointT , typename PointNT >
pcl::PlaneCoefficientComparator< PointT, PointNT >::PlaneCoefficientComparator ( 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.

◆ ~PlaneCoefficientComparator()

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

Destructor for PlaneCoefficientComparator.

Member Function Documentation

◆ compare()

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

Compare points at two indices by their plane equations.

True if the angle between the normals is less than the angular threshold, and the difference between the d component of the normals is less than distance threshold, else false

Parameters
idx1The first index for the comparison
idx2The second index for the comparison

Implements pcl::Comparator< PointT >.

Reimplemented in pcl::RGBPlaneCoefficientComparator< PointT, PointNT >, and pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >.

Definition at line 185 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_, pcl::PlaneCoefficientComparator< PointT, PointNT >::depth_dependent_, pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_, pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_, pcl::PlaneCoefficientComparator< PointT, PointNT >::plane_coeff_d_, and pcl::PlaneCoefficientComparator< PointT, PointNT >::z_axis_.

◆ getAngularThreshold()

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 155 of file plane_coefficient_comparator.h.

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

◆ getDistanceThreshold()

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 174 of file plane_coefficient_comparator.h.

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

◆ getInputNormals()

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

Get the input normals.

Definition at line 114 of file plane_coefficient_comparator.h.

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

◆ getPlaneCoeffD()

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 139 of file plane_coefficient_comparator.h.

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

◆ setAngularThreshold()

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 148 of file plane_coefficient_comparator.h.

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

◆ setDistanceThreshold()

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 165 of file plane_coefficient_comparator.h.

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

◆ setInputCloud()

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

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 98 of file plane_coefficient_comparator.h.

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

◆ setInputNormals()

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 107 of file plane_coefficient_comparator.h.

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

◆ setPlaneCoeffD() [1/2]

template<typename PointT , typename PointNT >
void pcl::PlaneCoefficientComparator< PointT, PointNT >::setPlaneCoeffD ( 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 123 of file plane_coefficient_comparator.h.

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

◆ setPlaneCoeffD() [2/2]

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 132 of file plane_coefficient_comparator.h.

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

Member Data Documentation

◆ angular_threshold_

template<typename PointT , typename PointNT >
float pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_
protected

◆ depth_dependent_

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

◆ distance_threshold_

template<typename PointT , typename PointNT >
float pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_
protected

◆ normals_

template<typename PointT , typename PointNT >
PointCloudNConstPtr pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_
protected

◆ plane_coeff_d_

template<typename PointT , typename PointNT >
shared_ptr<std::vector<float> > pcl::PlaneCoefficientComparator< PointT, PointNT >::plane_coeff_d_
protected

◆ z_axis_

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: