GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving. More...

#include <pcl/segmentation/ground_plane_comparator.h>

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

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

using	ConstPtr = shared_ptr< const GroundPlaneComparator< 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
	GroundPlaneComparator ()
	Empty constructor for GroundPlaneComparator. More...

	GroundPlaneComparator (shared_ptr< std::vector< float > > &plane_coeff_d)
	Constructor for GroundPlaneComparator. More...

	~GroundPlaneComparator () override=default
	Destructor for GroundPlaneComparator. More...

void	setInputCloud (const PointCloudConstPtr &cloud) override
	Provide the input cloud. 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...

virtual void	setGroundAngularThreshold (float angular_threshold)
	Set the tolerance in radians for difference in normal direction between a point and the expected ground normal. More...

void	setExpectedGroundNormal (Eigen::Vector3f normal)
	Set the expected ground plane normal with respect to the sensor. 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 Attributes
PointCloudNConstPtr	normals_

shared_ptr< std::vector< float > >	plane_coeff_d_

float	angular_threshold_

float	road_angular_threshold_

float	distance_threshold_

bool	depth_dependent_

Eigen::Vector3f	z_axis_

Eigen::Vector3f	desired_road_axis_

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

Detailed Description

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

GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving.

In conjunction with OrganizedConnectedComponentSegmentation, this allows smooth groundplanes / road surfaces to be segmented from point clouds.

Author: Alex Trevor

Definition at line 56 of file ground_plane_comparator.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename PointNT >

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

Definition at line 67 of file ground_plane_comparator.h.

◆ PointCloud

template<typename PointT , typename PointNT >

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

Definition at line 59 of file ground_plane_comparator.h.

◆ PointCloudConstPtr

template<typename PointT , typename PointNT >

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

Definition at line 60 of file ground_plane_comparator.h.

◆ PointCloudN

template<typename PointT , typename PointNT >

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

Definition at line 62 of file ground_plane_comparator.h.

◆ PointCloudNConstPtr

template<typename PointT , typename PointNT >

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

Definition at line 64 of file ground_plane_comparator.h.

◆ PointCloudNPtr

template<typename PointT , typename PointNT >

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

Definition at line 63 of file ground_plane_comparator.h.

◆ Ptr

template<typename PointT , typename PointNT >

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

Definition at line 66 of file ground_plane_comparator.h.

Constructor & Destructor Documentation

◆ GroundPlaneComparator() [1/2]

template<typename PointT , typename PointNT >

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

inline

Empty constructor for GroundPlaneComparator.

Definition at line 72 of file ground_plane_comparator.h.

◆ GroundPlaneComparator() [2/2]

template<typename PointT , typename PointNT >

pcl::GroundPlaneComparator< PointT, PointNT >::GroundPlaneComparator ( shared_ptr< std::vector< float > > & plane_coeff_d )

inline

Constructor for GroundPlaneComparator.

Parameters

[in] plane_coeff_d a reference to a vector of d coefficients of plane equations. Must be the same size as the input cloud and input normals. a, b, and c coefficients are in the input normals.

Definition at line 86 of file ground_plane_comparator.h.

◆ ~GroundPlaneComparator()

template<typename PointT , typename PointNT >

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

overridedefault

Destructor for GroundPlaneComparator.

Member Function Documentation

◆ compare()

template<typename PointT , typename PointNT >

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

inlineoverridevirtual

Compare points at two indices by their plane equations.

True if the angle between the normals is less than the angular threshold, and the difference between the d component of the normals is less than distance threshold, else false

Parameters

idx1	The first index for the comparison
idx2	The second index for the comparison

Implements pcl::Comparator< PointT >.

Definition at line 212 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_, pcl::GroundPlaneComparator< PointT, PointNT >::desired_road_axis_, pcl::GroundPlaneComparator< PointT, PointNT >::normals_, and pcl::GroundPlaneComparator< PointT, PointNT >::road_angular_threshold_.

◆ getAngularThreshold()

template<typename PointT , typename PointNT >

float pcl::GroundPlaneComparator< PointT, PointNT >::getAngularThreshold ( ) const

inline

Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Definition at line 182 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_.

◆ getDistanceThreshold()

template<typename PointT , typename PointNT >

float pcl::GroundPlaneComparator< PointT, PointNT >::getDistanceThreshold ( ) const

inline

Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane.

Definition at line 201 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_.

◆ getInputNormals()

template<typename PointT , typename PointNT >

PointCloudNConstPtr pcl::GroundPlaneComparator< PointT, PointNT >::getInputNormals ( ) const

inline

Get the input normals.

Definition at line 122 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::normals_.

◆ getPlaneCoeffD()

template<typename PointT , typename PointNT >

const std::vector<float>& pcl::GroundPlaneComparator< PointT, PointNT >::getPlaneCoeffD ( ) const

inline

Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.

Definition at line 147 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_.

◆ setAngularThreshold()

template<typename PointT , typename PointNT >

virtual void pcl::GroundPlaneComparator< PointT, PointNT >::setAngularThreshold ( float angular_threshold )

inlinevirtual

Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Parameters

[in] angular_threshold the tolerance in radians

Definition at line 156 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_.

◆ setDistanceThreshold()

template<typename PointT , typename PointNT >

void pcl::GroundPlaneComparator< PointT, PointNT >::setDistanceThreshold	(	float	distance_threshold,
		bool	depth_dependent = `false`
	)

inline

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.

Parameters

[in]	distance_threshold	the tolerance in meters (at 1m)
[in]	depth_dependent	whether to scale the threshold based on range from the sensor (default: false)

Definition at line 192 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::depth_dependent_, and pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_.

◆ setExpectedGroundNormal()

template<typename PointT , typename PointNT >

void pcl::GroundPlaneComparator< PointT, PointNT >::setExpectedGroundNormal ( Eigen::Vector3f normal )

inline

Set the expected ground plane normal with respect to the sensor.

Pixels labeled as ground must be within ground_angular_threshold radians of this normal to be labeled as ground.

Parameters

[in] normal The normal direction of the expected ground plane.

Definition at line 174 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::desired_road_axis_.

◆ setGroundAngularThreshold()

template<typename PointT , typename PointNT >

virtual void pcl::GroundPlaneComparator< PointT, PointNT >::setGroundAngularThreshold ( float angular_threshold )

inlinevirtual

Set the tolerance in radians for difference in normal direction between a point and the expected ground normal.

Parameters

[in] angular_threshold the

Definition at line 165 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::road_angular_threshold_.

◆ setInputCloud()

template<typename PointT , typename PointNT >

void pcl::GroundPlaneComparator< PointT, PointNT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlineoverridevirtual

Provide the input cloud.

Parameters

[in] cloud the input point cloud.

Reimplemented from pcl::Comparator< PointT >.

Definition at line 106 of file ground_plane_comparator.h.

References pcl::Comparator< PointT >::input_.

◆ setInputNormals()

template<typename PointT , typename PointNT >

void pcl::GroundPlaneComparator< PointT, PointNT >::setInputNormals ( const PointCloudNConstPtr & normals )

inline

Provide a pointer to the input normals.

Parameters

[in] normals the input normal cloud.

Definition at line 115 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::normals_.

◆ setPlaneCoeffD() [1/2]

template<typename PointT , typename PointNT >

void pcl::GroundPlaneComparator< PointT, PointNT >::setPlaneCoeffD ( shared_ptr< std::vector< float > > & plane_coeff_d )

inline

Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.

a, b, and c are provided by the normal cloud.

Parameters

[in] plane_coeff_d a pointer to the plane coefficients.

Definition at line 131 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_.

◆ setPlaneCoeffD() [2/2]

template<typename PointT , typename PointNT >

void pcl::GroundPlaneComparator< PointT, PointNT >::setPlaneCoeffD ( std::vector< float > & plane_coeff_d )

inline

Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.

a, b, and c are provided by the normal cloud.

Parameters

[in] plane_coeff_d a pointer to the plane coefficients.

Definition at line 140 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_.

Member Data Documentation

◆ angular_threshold_

template<typename PointT , typename PointNT >

float pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_

protected

Definition at line 238 of file ground_plane_comparator.h.

Referenced by pcl::GroundPlaneComparator< PointT, PointNT >::compare(), pcl::GroundPlaneComparator< PointT, PointNT >::getAngularThreshold(), and pcl::GroundPlaneComparator< PointT, PointNT >::setAngularThreshold().

◆ depth_dependent_

template<typename PointT , typename PointNT >

bool pcl::GroundPlaneComparator< PointT, PointNT >::depth_dependent_

protected

Definition at line 241 of file ground_plane_comparator.h.

Referenced by pcl::GroundPlaneComparator< PointT, PointNT >::setDistanceThreshold().

◆ desired_road_axis_

template<typename PointT , typename PointNT >

Eigen::Vector3f pcl::GroundPlaneComparator< PointT, PointNT >::desired_road_axis_

protected

Definition at line 243 of file ground_plane_comparator.h.

Referenced by pcl::GroundPlaneComparator< PointT, PointNT >::compare(), and pcl::GroundPlaneComparator< PointT, PointNT >::setExpectedGroundNormal().

◆ distance_threshold_

template<typename PointT , typename PointNT >

float pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_

protected

Definition at line 240 of file ground_plane_comparator.h.

Referenced by pcl::GroundPlaneComparator< PointT, PointNT >::getDistanceThreshold(), and pcl::GroundPlaneComparator< PointT, PointNT >::setDistanceThreshold().

◆ normals_

template<typename PointT , typename PointNT >

PointCloudNConstPtr pcl::GroundPlaneComparator< PointT, PointNT >::normals_

protected

Definition at line 236 of file ground_plane_comparator.h.

Referenced by pcl::GroundPlaneComparator< PointT, PointNT >::compare(), pcl::GroundPlaneComparator< PointT, PointNT >::getInputNormals(), and pcl::GroundPlaneComparator< PointT, PointNT >::setInputNormals().

◆ plane_coeff_d_

template<typename PointT , typename PointNT >

shared_ptr<std::vector<float> > pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_

protected

Definition at line 237 of file ground_plane_comparator.h.

Referenced by pcl::GroundPlaneComparator< PointT, PointNT >::getPlaneCoeffD(), and pcl::GroundPlaneComparator< PointT, PointNT >::setPlaneCoeffD().

◆ road_angular_threshold_

template<typename PointT , typename PointNT >

float pcl::GroundPlaneComparator< PointT, PointNT >::road_angular_threshold_

protected

Definition at line 239 of file ground_plane_comparator.h.

Referenced by pcl::GroundPlaneComparator< PointT, PointNT >::compare(), and pcl::GroundPlaneComparator< PointT, PointNT >::setGroundAngularThreshold().

◆ z_axis_

template<typename PointT , typename PointNT >

Eigen::Vector3f pcl::GroundPlaneComparator< PointT, PointNT >::z_axis_

protected

Definition at line 242 of file ground_plane_comparator.h.

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

pcl/segmentation/ground_plane_comparator.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudN

◆ PointCloudNConstPtr

◆ PointCloudNPtr

◆ Ptr

Constructor & Destructor Documentation

◆ GroundPlaneComparator() [1/2]

◆ GroundPlaneComparator() [2/2]

◆ ~GroundPlaneComparator()

Member Function Documentation

◆ compare()

◆ getAngularThreshold()

◆ getDistanceThreshold()

◆ getInputNormals()

◆ getPlaneCoeffD()

◆ setAngularThreshold()

◆ setDistanceThreshold()

◆ setExpectedGroundNormal()

◆ setGroundAngularThreshold()

◆ setInputCloud()

◆ setInputNormals()

◆ setPlaneCoeffD() [1/2]

◆ setPlaneCoeffD() [2/2]

Member Data Documentation

◆ angular_threshold_

◆ depth_dependent_

◆ desired_road_axis_

◆ distance_threshold_

◆ normals_

◆ plane_coeff_d_

◆ road_angular_threshold_

◆ z_axis_

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