Point Cloud Library (PCL)
1.11.1-dev
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45 #include <pcl/segmentation/comparator.h>
55 template<
typename Po
intT,
typename Po
intNT>
66 using Ptr = shared_ptr<GroundPlaneComparator<PointT, PointNT> >;
67 using ConstPtr = shared_ptr<const GroundPlaneComparator<PointT, PointNT> >;
143 plane_coeff_d_ = pcl::make_shared<std::vector<float> >(plane_coeff_d);
147 const std::vector<float>&
194 bool depth_dependent =
false)
220 Eigen::Vector3f vec = (*input_)[idx1].getVector3fMap ();
Defines all the PCL and non-PCL macros used.
virtual void setGroundAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between a point and the expected grou...
PointCloudNConstPtr getInputNormals() const
Get the input normals.
typename PointCloudN::Ptr PointCloudNPtr
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
float getAngularThreshold() const
Get the angular threshold in radians for difference in normal direction between neighboring points,...
Eigen::Vector3f desired_road_axis_
GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving.
float road_angular_threshold_
GroundPlaneComparator()
Empty constructor for GroundPlaneComparator.
PointCloud represents the base class in PCL for storing collections of 3D points.
~GroundPlaneComparator()
Destructor for GroundPlaneComparator.
shared_ptr< const Comparator< PointT > > ConstPtr
void setInputCloud(const PointCloudConstPtr &cloud) override
Provide the input cloud.
bool compare(int idx1, int idx2) const override
Compare points at two indices by their plane equations.
PointCloudNConstPtr normals_
virtual void setAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points,...
shared_ptr< std::vector< float > > plane_coeff_d_
float deg2rad(float alpha)
Convert an angle from degrees to radians.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Comparator is the base class for comparators that compare two points given some function.
void setDistanceThreshold(float distance_threshold, bool depth_dependent=false)
Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...
float getDistanceThreshold() const
Get the distance threshold in meters (d component of plane equation) between neighboring points,...
const std::vector< float > & getPlaneCoeffD() const
Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.
typename PointCloud::ConstPtr PointCloudConstPtr
void setExpectedGroundNormal(Eigen::Vector3f normal)
Set the expected ground plane normal with respect to the sensor.
shared_ptr< PointCloud< PointNT > > Ptr
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.
void setPlaneCoeffD(std::vector< float > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
typename PointCloudN::ConstPtr PointCloudNConstPtr
shared_ptr< const PointCloud< PointNT > > ConstPtr
float distance_threshold_
GroundPlaneComparator(shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for GroundPlaneComparator.
PointCloudConstPtr input_
shared_ptr< Comparator< PointT > > Ptr
Defines functions, macros and traits for allocating and using memory.