Point Cloud Library (PCL)  1.14.1-dev
euclidean_plane_coefficient_comparator.h
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39 
40 #pragma once
41 
42 #include <pcl/segmentation/plane_coefficient_comparator.h>
43 
44 namespace pcl
45 {
46  /** \brief EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients,
47  * for use in planar segmentation.
48  * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
49  *
50  * \author Alex Trevor
51  */
52  template<typename PointT, typename PointNT>
54  {
55  public:
59  using PointCloudNPtr = typename PointCloudN::Ptr;
61 
62  using Ptr = shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> >;
63  using ConstPtr = shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> >;
64 
69 
70  /** \brief Empty constructor for PlaneCoefficientComparator. */
72 
73  /** \brief Destructor for PlaneCoefficientComparator. */
74 
76 
77  /** \brief Compare two neighboring points, by using normal information, and euclidean distance information.
78  * \param[in] idx1 The index of the first point.
79  * \param[in] idx2 The index of the second point.
80  */
81  bool
82  compare (int idx1, int idx2) const override
83  {
84  float dx = (*input_)[idx1].x - (*input_)[idx2].x;
85  float dy = (*input_)[idx1].y - (*input_)[idx2].y;
86  float dz = (*input_)[idx1].z - (*input_)[idx2].z;
87  float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
88 
89  return ( (dist < distance_threshold_)
90  && ((*normals_)[idx1].getNormalVector3fMap ().dot ((*normals_)[idx2].getNormalVector3fMap () ) > angular_threshold_ ) );
91  }
92  };
93 }
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:55
shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:61
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:59
shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:62
EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients,...
~EuclideanPlaneCoefficientComparator()=default
Destructor for PlaneCoefficientComparator.
EuclideanPlaneCoefficientComparator()=default
Empty constructor for PlaneCoefficientComparator.
bool compare(int idx1, int idx2) const override
Compare two neighboring points, by using normal information, and euclidean distance information.
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointNT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointNT > > ConstPtr
Definition: point_cloud.h:414