EdgeAwarePlaneComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. More...

#include <pcl/segmentation/edge_aware_plane_comparator.h>

Inheritance diagram for pcl::EdgeAwarePlaneComparator< PointT, PointNT >:

Collaboration diagram for pcl::EdgeAwarePlaneComparator< PointT, PointNT >:

Public Types
using	PointCloud = typename Comparator< PointT >::PointCloud

using	PointCloudConstPtr = typename Comparator< PointT >::PointCloudConstPtr

using	PointCloudN = pcl::PointCloud< PointNT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< EdgeAwarePlaneComparator< PointT, PointNT > >

using	ConstPtr = shared_ptr< const EdgeAwarePlaneComparator< PointT, PointNT > >

Public Types inherited from pcl::PlaneCoefficientComparator< PointT, PointNT >
using	PointCloud = typename Comparator< PointT >::PointCloud

using	PointCloudConstPtr = typename Comparator< PointT >::PointCloudConstPtr

using	PointCloudN = pcl::PointCloud< PointNT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< PlaneCoefficientComparator< PointT, PointNT > >

using	ConstPtr = shared_ptr< const PlaneCoefficientComparator< PointT, PointNT > >

Public Types inherited from pcl::Comparator< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	Ptr = shared_ptr< Comparator< PointT > >

using	ConstPtr = shared_ptr< const Comparator< PointT > >

Public Member Functions
	EdgeAwarePlaneComparator ()
	Empty constructor for PlaneCoefficientComparator. More...

	EdgeAwarePlaneComparator (const float *distance_map)
	Empty constructor for PlaneCoefficientComparator. More...

	~EdgeAwarePlaneComparator () override=default
	Destructor for PlaneCoefficientComparator. More...

void	setDistanceMap (const float *distance_map)
	Set a distance map to use. More...

const float *	getDistanceMap () const
	Return the distance map used. More...

void	setCurvatureThreshold (float curvature_threshold)
	Set the curvature threshold for creating a new segment. More...

float	getCurvatureThreshold () const
	Get the curvature threshold. More...

void	setDistanceMapThreshold (float distance_map_threshold)
	Set the distance map threshold – the number of pixel away from a border / nan. More...

float	getDistanceMapThreshold () const
	Get the distance map threshold (in pixels). More...

void	setEuclideanDistanceThreshold (float euclidean_distance_threshold)
	Set the euclidean distance threshold. More...

float	getEuclideanDistanceThreshold () const
	Get the euclidean distance threshold. More...

Public Member Functions inherited from pcl::PlaneCoefficientComparator< PointT, PointNT >
	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...

bool	compare (int idx1, int idx2) const override
	Compare points at two indices by their plane equations. More...

Public Member Functions inherited from pcl::Comparator< PointT >
	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 Member Functions
bool	compare (int idx1, int idx2) const override
	Compare two neighboring points, by using normal information, curvature, and euclidean distance information. More...

Protected Attributes
const float *	distance_map_

int	distance_map_threshold_

float	curvature_threshold_

float	euclidean_distance_threshold_

Protected Attributes inherited from pcl::PlaneCoefficientComparator< PointT, PointNT >
PointCloudNConstPtr	normals_

shared_ptr< std::vector< float > >	plane_coeff_d_

float	angular_threshold_

float	distance_threshold_

bool	depth_dependent_

Eigen::Vector3f	z_axis_

Protected Attributes inherited from pcl::Comparator< PointT >
PointCloudConstPtr	input_

Detailed Description

template<typename PointT, typename PointNT>
class pcl::EdgeAwarePlaneComparator< PointT, PointNT >

EdgeAwarePlaneComparator 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.

Author: Stefan Holzer, Alex Trevor

Definition at line 53 of file edge_aware_plane_comparator.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename PointNT >

using pcl::EdgeAwarePlaneComparator< PointT, PointNT >::ConstPtr = shared_ptr<const EdgeAwarePlaneComparator<PointT, PointNT> >

Definition at line 64 of file edge_aware_plane_comparator.h.

◆ PointCloud

template<typename PointT , typename PointNT >

using pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloud = typename Comparator<PointT>::PointCloud

Definition at line 56 of file edge_aware_plane_comparator.h.

◆ PointCloudConstPtr

template<typename PointT , typename PointNT >

using pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudConstPtr = typename Comparator<PointT>::PointCloudConstPtr

Definition at line 57 of file edge_aware_plane_comparator.h.

◆ PointCloudN

template<typename PointT , typename PointNT >

using pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudN = pcl::PointCloud<PointNT>

Definition at line 59 of file edge_aware_plane_comparator.h.

◆ PointCloudNConstPtr

template<typename PointT , typename PointNT >

using pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr

Definition at line 61 of file edge_aware_plane_comparator.h.

◆ PointCloudNPtr

template<typename PointT , typename PointNT >

using pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudNPtr = typename PointCloudN::Ptr

Definition at line 60 of file edge_aware_plane_comparator.h.

◆ Ptr

template<typename PointT , typename PointNT >

using pcl::EdgeAwarePlaneComparator< PointT, PointNT >::Ptr = shared_ptr<EdgeAwarePlaneComparator<PointT, PointNT> >

Definition at line 63 of file edge_aware_plane_comparator.h.

Constructor & Destructor Documentation

◆ EdgeAwarePlaneComparator() [1/2]

template<typename PointT , typename PointNT >

pcl::EdgeAwarePlaneComparator< PointT, PointNT >::EdgeAwarePlaneComparator ( )

inline

Empty constructor for PlaneCoefficientComparator.

Definition at line 75 of file edge_aware_plane_comparator.h.

◆ EdgeAwarePlaneComparator() [2/2]

template<typename PointT , typename PointNT >

pcl::EdgeAwarePlaneComparator< PointT, PointNT >::EdgeAwarePlaneComparator ( const float * distance_map )

inline

Empty constructor for PlaneCoefficientComparator.

Parameters

[in] distance_map the distance map to use

Definition at line 85 of file edge_aware_plane_comparator.h.

◆ ~EdgeAwarePlaneComparator()

template<typename PointT , typename PointNT >

pcl::EdgeAwarePlaneComparator< PointT, PointNT >::~EdgeAwarePlaneComparator ( )

overridedefault

Destructor for PlaneCoefficientComparator.

Member Function Documentation

◆ compare()

template<typename PointT , typename PointNT >

bool pcl::EdgeAwarePlaneComparator< PointT, PointNT >::compare	(	int	idx1,
		int	idx2
	)		const

inlineoverrideprotectedvirtual

Compare two neighboring points, by using normal information, curvature, and euclidean distance information.

Parameters

[in]	idx1	The index of the first point.
[in]	idx2	The index of the second point.

Implements pcl::Comparator< PointT >.

Definition at line 169 of file edge_aware_plane_comparator.h.

◆ getCurvatureThreshold()

template<typename PointT , typename PointNT >

float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getCurvatureThreshold ( ) const

inline

Get the curvature threshold.

Definition at line 126 of file edge_aware_plane_comparator.h.

References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::curvature_threshold_.

◆ getDistanceMap()

template<typename PointT , typename PointNT >

const float* pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getDistanceMap ( ) const

inline

Return the distance map used.

Definition at line 110 of file edge_aware_plane_comparator.h.

References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_.

◆ getDistanceMapThreshold()

template<typename PointT , typename PointNT >

float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getDistanceMapThreshold ( ) const

inline

Get the distance map threshold (in pixels).

Definition at line 142 of file edge_aware_plane_comparator.h.

References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_threshold_.

◆ getEuclideanDistanceThreshold()

template<typename PointT , typename PointNT >

float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getEuclideanDistanceThreshold ( ) const

inline

Get the euclidean distance threshold.

Definition at line 158 of file edge_aware_plane_comparator.h.

References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::euclidean_distance_threshold_.

◆ setCurvatureThreshold()

template<typename PointT , typename PointNT >

void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setCurvatureThreshold ( float curvature_threshold )

inline

Set the curvature threshold for creating a new segment.

Parameters

[in] curvature_threshold a threshold for the curvature

Definition at line 119 of file edge_aware_plane_comparator.h.

References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::curvature_threshold_.

◆ setDistanceMap()

template<typename PointT , typename PointNT >

void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setDistanceMap ( const float * distance_map )

inline

Set a distance map to use.

For an example of a valid distance map see IntegralImageNormalEstimation::getDistanceMap

Parameters

[in] distance_map the distance map to use

Definition at line 103 of file edge_aware_plane_comparator.h.

References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_.

◆ setDistanceMapThreshold()

template<typename PointT , typename PointNT >

void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setDistanceMapThreshold ( float distance_map_threshold )

inline

Set the distance map threshold – the number of pixel away from a border / nan.

Parameters

[in] distance_map_threshold the distance map threshold

Definition at line 135 of file edge_aware_plane_comparator.h.

References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_threshold_.

◆ setEuclideanDistanceThreshold()

template<typename PointT , typename PointNT >

void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setEuclideanDistanceThreshold ( float euclidean_distance_threshold )

inline

Set the euclidean distance threshold.

Parameters

[in] euclidean_distance_threshold the euclidean distance threshold in meters

Definition at line 151 of file edge_aware_plane_comparator.h.

References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::euclidean_distance_threshold_.

Member Data Documentation

◆ curvature_threshold_

template<typename PointT , typename PointNT >

float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::curvature_threshold_

protected

Definition at line 206 of file edge_aware_plane_comparator.h.

Referenced by pcl::EdgeAwarePlaneComparator< PointT, PointNT >::compare(), pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getCurvatureThreshold(), and pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setCurvatureThreshold().

◆ distance_map_

template<typename PointT , typename PointNT >

const float* pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_

protected

Definition at line 204 of file edge_aware_plane_comparator.h.

Referenced by pcl::EdgeAwarePlaneComparator< PointT, PointNT >::compare(), pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getDistanceMap(), and pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setDistanceMap().

◆ distance_map_threshold_

template<typename PointT , typename PointNT >

int pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_threshold_

protected

Definition at line 205 of file edge_aware_plane_comparator.h.

Referenced by pcl::EdgeAwarePlaneComparator< PointT, PointNT >::compare(), pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getDistanceMapThreshold(), and pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setDistanceMapThreshold().

◆ euclidean_distance_threshold_

template<typename PointT , typename PointNT >

float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::euclidean_distance_threshold_

protected

Definition at line 207 of file edge_aware_plane_comparator.h.

Referenced by pcl::EdgeAwarePlaneComparator< PointT, PointNT >::compare(), pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getEuclideanDistanceThreshold(), and pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setEuclideanDistanceThreshold().

The documentation for this class was generated from the following file:

pcl/segmentation/edge_aware_plane_comparator.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT, typename PointNT> class pcl::EdgeAwarePlaneComparator< PointT, PointNT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudN

◆ PointCloudNConstPtr

◆ PointCloudNPtr

◆ Ptr

Constructor & Destructor Documentation

◆ EdgeAwarePlaneComparator() [1/2]

◆ EdgeAwarePlaneComparator() [2/2]

◆ ~EdgeAwarePlaneComparator()

Member Function Documentation

◆ compare()

◆ getCurvatureThreshold()

◆ getDistanceMap()

◆ getDistanceMapThreshold()

◆ getEuclideanDistanceThreshold()

◆ setCurvatureThreshold()

◆ setDistanceMap()

◆ setDistanceMapThreshold()

◆ setEuclideanDistanceThreshold()

Member Data Documentation

◆ curvature_threshold_

◆ distance_map_

◆ distance_map_threshold_

◆ euclidean_distance_threshold_

template<typename PointT, typename PointNT>
class pcl::EdgeAwarePlaneComparator< PointT, PointNT >