Point Cloud Library (PCL)
1.11.1-dev
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42 #include <pcl/segmentation/boost.h>
43 #include <pcl/segmentation/plane_coefficient_comparator.h>
53 template<
typename Po
intT,
typename Po
intNT>
64 using Ptr = shared_ptr<RGBPlaneCoefficientComparator<PointT, PointNT> >;
65 using ConstPtr = shared_ptr<const RGBPlaneCoefficientComparator<PointT, PointNT> >;
115 float dx = (*input_)[idx1].x - (*input_)[idx2].x;
116 float dy = (*input_)[idx1].y - (*input_)[idx2].y;
117 float dz = (*input_)[idx1].z - (*input_)[idx2].z;
118 float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
119 int dr = (*input_)[idx1].r - (*input_)[idx2].r;
120 int dg = (*input_)[idx1].g - (*input_)[idx2].g;
121 int db = (*input_)[idx1].b - (*input_)[idx2].b;
123 float color_dist =
static_cast<float> (dr*dr + dg*dg + db*db);
RGBPlaneCoefficientComparator(shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for RGBPlaneCoefficientComparator.
typename PointCloudN::Ptr PointCloudNPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< const Comparator< PointT > > ConstPtr
void setColorThreshold(float color_threshold)
Set the tolerance in color space between neighboring points, to be considered part of the same plane.
float distance_threshold_
bool compare(int idx1, int idx2) const override
Compare two neighboring points, by using normal information, euclidean distance, and color informatio...
typename PointCloudN::ConstPtr PointCloudNConstPtr
PointCloudNConstPtr normals_
float getColorThreshold() const
Get the color threshold between neighboring points, to be considered part of the same plane.
Comparator is the base class for comparators that compare two points given some function.
typename PointCloud::ConstPtr PointCloudConstPtr
shared_ptr< PointCloud< PointNT > > Ptr
RGBPlaneCoefficientComparator()
Empty constructor for RGBPlaneCoefficientComparator.
shared_ptr< const PointCloud< PointNT > > ConstPtr
~RGBPlaneCoefficientComparator()
Destructor for RGBPlaneCoefficientComparator.
shared_ptr< Comparator< PointT > > Ptr
RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients,...
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...