Point Cloud Library (PCL)
1.14.1-dev
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PlaneRefinementComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. More...
#include <pcl/segmentation/plane_refinement_comparator.h>
Public Member Functions | |
PlaneRefinementComparator () | |
Empty constructor for PlaneCoefficientComparator. More... | |
PlaneRefinementComparator (shared_ptr< std::vector< pcl::ModelCoefficients > > &models, shared_ptr< std::vector< bool > > &refine_labels) | |
Empty constructor for PlaneCoefficientComparator. More... | |
~PlaneRefinementComparator () override=default | |
Destructor for PlaneCoefficientComparator. More... | |
void | setModelCoefficients (shared_ptr< std::vector< pcl::ModelCoefficients > > &models) |
Set the vector of model coefficients to which we will compare. More... | |
void | setModelCoefficients (std::vector< pcl::ModelCoefficients > &models) |
Set the vector of model coefficients to which we will compare. More... | |
void | setRefineLabels (shared_ptr< std::vector< bool > > &refine_labels) |
Set which labels should be refined. More... | |
void | setRefineLabels (std::vector< bool > &refine_labels) |
Set which labels should be refined. More... | |
void | setLabelToModel (shared_ptr< std::vector< int > > &label_to_model) |
A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed. More... | |
void | setLabelToModel (std::vector< int > &label_to_model) |
A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed. More... | |
shared_ptr< std::vector< pcl::ModelCoefficients > > | getModelCoefficients () const |
Get the vector of model coefficients to which we will compare. More... | |
void | setLabels (PointCloudLPtr &labels) |
... More... | |
bool | compare (int idx1, int idx2) const override |
Compare two neighboring points. More... | |
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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... | |
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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 | |
shared_ptr< std::vector< pcl::ModelCoefficients > > | models_ |
PointCloudLPtr | labels_ |
shared_ptr< std::vector< bool > > | refine_labels_ |
shared_ptr< std::vector< int > > | label_to_model_ |
bool | depth_dependent_ |
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PointCloudNConstPtr | normals_ |
shared_ptr< std::vector< float > > | plane_coeff_d_ |
float | angular_threshold_ |
float | distance_threshold_ |
bool | depth_dependent_ |
Eigen::Vector3f | z_axis_ |
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PointCloudConstPtr | input_ |
PlaneRefinementComparator 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.
Definition at line 54 of file plane_refinement_comparator.h.
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::ConstPtr = shared_ptr<const PlaneRefinementComparator<PointT, PointNT, PointLT> > |
Definition at line 69 of file plane_refinement_comparator.h.
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloud = typename Comparator<PointT>::PointCloud |
Definition at line 57 of file plane_refinement_comparator.h.
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudConstPtr = typename Comparator<PointT>::PointCloudConstPtr |
Definition at line 58 of file plane_refinement_comparator.h.
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudL = pcl::PointCloud<PointLT> |
Definition at line 64 of file plane_refinement_comparator.h.
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudLConstPtr = typename PointCloudL::ConstPtr |
Definition at line 66 of file plane_refinement_comparator.h.
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudLPtr = typename PointCloudL::Ptr |
Definition at line 65 of file plane_refinement_comparator.h.
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudN = pcl::PointCloud<PointNT> |
Definition at line 60 of file plane_refinement_comparator.h.
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr |
Definition at line 62 of file plane_refinement_comparator.h.
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudNPtr = typename PointCloudN::Ptr |
Definition at line 61 of file plane_refinement_comparator.h.
using pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::Ptr = shared_ptr<PlaneRefinementComparator<PointT, PointNT, PointLT> > |
Definition at line 68 of file plane_refinement_comparator.h.
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Empty constructor for PlaneCoefficientComparator.
Definition at line 78 of file plane_refinement_comparator.h.
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Empty constructor for PlaneCoefficientComparator.
[in] | models | |
[in] | refine_labels |
Definition at line 88 of file plane_refinement_comparator.h.
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Destructor for PlaneCoefficientComparator.
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Compare two neighboring points.
[in] | idx1 | The index of the first point. |
[in] | idx2 | The index of the second point. |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 175 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::depth_dependent_, pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_, pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_, pcl::ModelCoefficients::values, and pcl::PlaneCoefficientComparator< PointT, PointNT >::z_axis_.
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Get the vector of model coefficients to which we will compare.
Definition at line 156 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.
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[in] | labels |
Definition at line 165 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::labels_.
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A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.
[in] | label_to_model | A vector of size max_label, with the index of each corresponding model in models |
Definition at line 140 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_.
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A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.
[in] | label_to_model | A vector of size max_label, with the index of each corresponding model in models |
Definition at line 149 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_.
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Set the vector of model coefficients to which we will compare.
[in] | models | a vector of model coefficients produced by the initial segmentation step. |
Definition at line 104 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.
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Set the vector of model coefficients to which we will compare.
[in] | models | a vector of model coefficients produced by the initial segmentation step. |
Definition at line 113 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.
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Set which labels should be refined.
This is a vector of bools 0-max_label, true if the label should be refined.
[in] | refine_labels | A vector of bools 0-max_label, true if the label should be refined. |
Definition at line 122 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_.
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Set which labels should be refined.
This is a vector of bools 0-max_label, true if the label should be refined.
[in] | refine_labels | A vector of bools 0-max_label, true if the label should be refined. |
Definition at line 131 of file plane_refinement_comparator.h.
References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_.
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Definition at line 210 of file plane_refinement_comparator.h.
Referenced by pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::compare().
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Definition at line 209 of file plane_refinement_comparator.h.
Referenced by pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel().
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Definition at line 207 of file plane_refinement_comparator.h.
Referenced by pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabels().
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Definition at line 206 of file plane_refinement_comparator.h.
Referenced by pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::getModelCoefficients(), and pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients().
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Definition at line 208 of file plane_refinement_comparator.h.
Referenced by pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::compare(), and pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels().