Point Cloud Library (PCL)
1.11.1-dev
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45 #include <pcl/segmentation/comparator.h>
54 template<
typename Po
intT,
typename Po
intNT>
65 using Ptr = shared_ptr<PlaneCoefficientComparator<PointT, PointNT> >;
66 using ConstPtr = shared_ptr<const PlaneCoefficientComparator<PointT, PointNT> >;
136 plane_coeff_d_ = pcl::make_shared<std::vector<float> >(plane_coeff_d);
140 const std::vector<float>&
168 bool depth_dependent =
false)
192 Eigen::Vector3f vec = (*input_)[idx1].getVector3fMap ();
Defines all the PCL and non-PCL macros used.
~PlaneCoefficientComparator()
Destructor for PlaneCoefficientComparator.
typename PointCloudN::Ptr PointCloudNPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< std::vector< float > > plane_coeff_d_
shared_ptr< const Comparator< PointT > > ConstPtr
PlaneCoefficientComparator()
Empty constructor for PlaneCoefficientComparator.
float distance_threshold_
typename PointCloudN::ConstPtr PointCloudNConstPtr
PointCloudNConstPtr normals_
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.
bool compare(int idx1, int idx2) const override
Compare points at two indices by their plane equations.
float deg2rad(float alpha)
Convert an angle from degrees to radians.
PlaneCoefficientComparator(shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for PlaneCoefficientComparator.
#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.
const std::vector< float > & getPlaneCoeffD() const
Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.
float getAngularThreshold() const
Get the angular threshold in radians for difference in normal direction between neighboring points,...
typename PointCloud::ConstPtr PointCloudConstPtr
shared_ptr< PointCloud< PointNT > > Ptr
PointCloudNConstPtr getInputNormals() const
Get the input normals.
shared_ptr< const PointCloud< PointNT > > ConstPtr
void setDistanceThreshold(float distance_threshold, bool depth_dependent=false)
Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...
void setPlaneCoeffD(std::vector< float > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
PointCloudConstPtr input_
shared_ptr< Comparator< PointT > > Ptr
Defines functions, macros and traits for allocating and using memory.
float getDistanceThreshold() const
Get the distance threshold in meters (d component of plane equation) between neighboring points,...
virtual void setAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points,...
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
void setInputCloud(const PointCloudConstPtr &cloud) override
Set the input cloud for the comparator.