OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of plane equations, as well as a vector of point clouds corresponding to the inliers of each detected plane. More...

#include <pcl/segmentation/organized_multi_plane_segmentation.h>

Inheritance diagram for pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >:

Collaboration diagram for pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >:

Public Types
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointCloudN = pcl::PointCloud< PointNT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	PointCloudL = pcl::PointCloud< PointLT >

using	PointCloudLPtr = typename PointCloudL::Ptr

using	PointCloudLConstPtr = typename PointCloudL::ConstPtr

using	PlaneComparator = pcl::PlaneCoefficientComparator< PointT, PointNT >

using	PlaneComparatorPtr = typename PlaneComparator::Ptr

using	PlaneComparatorConstPtr = typename PlaneComparator::ConstPtr

using	PlaneRefinementComparator = pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >

using	PlaneRefinementComparatorPtr = typename PlaneRefinementComparator::Ptr

using	PlaneRefinementComparatorConstPtr = typename PlaneRefinementComparator::ConstPtr

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

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	OrganizedMultiPlaneSegmentation ()=default
	Constructor for OrganizedMultiPlaneSegmentation. More...

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

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input normals. More...

PointCloudNConstPtr	getInputNormals () const
	Get the input normals. More...

void	setMinInliers (unsigned min_inliers)
	Set the minimum number of inliers required for a plane. More...

unsigned	getMinInliers () const
	Get the minimum number of inliers required per plane. More...

void	setAngularThreshold (double angular_threshold)
	Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. More...

double	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 (double distance_threshold)
	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...

double	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...

void	setMaximumCurvature (double maximum_curvature)
	Set the maximum curvature allowed for a planar region. More...

double	getMaximumCurvature () const
	Get the maximum curvature allowed for a planar region. More...

void	setComparator (const PlaneComparatorPtr &compare)
	Provide a pointer to the comparator to be used for segmentation. More...

void	setRefinementComparator (const PlaneRefinementComparatorPtr &compare)
	Provide a pointer to the comparator to be used for refinement. More...

void	setProjectPoints (bool project_points)
	Set whether or not to project boundary points to the plane, or leave them in the original 3D space. More...

void	segment (std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &centroids, std::vector< Eigen::Matrix3f, Eigen::aligned_allocator< Eigen::Matrix3f > > &covariances, pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices)
	Segmentation of all planes in a point cloud given by setInputCloud(), setIndices() More...

void	segment (std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices)
	Segmentation of all planes in a point cloud given by setInputCloud(), setIndices() More...

void	segment (std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions)
	Segmentation of all planes in a point cloud given by setInputCloud(), setIndices() More...

void	segmentAndRefine (std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions)
	Perform a segmentation, as well as an additional refinement step. More...

void	segmentAndRefine (std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions, std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, PointCloudLPtr &labels, std::vector< pcl::PointIndices > &label_indices, std::vector< pcl::PointIndices > &boundary_indices)
	Perform a segmentation, as well as additional refinement step. More...

void	refine (std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, PointCloudLPtr &labels, std::vector< pcl::PointIndices > &label_indices)
	Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation. More...

Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
virtual std::string	getClassName () const
	Class getName method. More...

Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
PointCloudNConstPtr	normals_ {nullptr}
	A pointer to the input normals. More...

unsigned	min_inliers_ {1000}
	The minimum number of inliers required for each plane. More...

double	angular_threshold_ {pcl::deg2rad (3.0)}
	The tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. More...

double	distance_threshold_ {0.02}
	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...

double	maximum_curvature_ {0.001}
	The tolerance for maximum curvature after fitting a plane. More...

bool	project_points_ {false}
	Whether or not points should be projected to the plane, or left in the original 3D space. More...

PlaneComparatorPtr	compare_ {new PlaneComparator}
	A comparator for comparing neighboring pixels' plane equations. More...

PlaneRefinementComparatorPtr	refinement_compare_ {new PlaneRefinementComparator}
	A comparator for use on the refinement step. More...

Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointT, typename PointNT, typename PointLT>
class pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >

OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of plane equations, as well as a vector of point clouds corresponding to the inliers of each detected plane.

Only planes with more than min_inliers points are detected. Templated on point type, normal type, and label type

Author: Alex Trevor, Suat Gedikli

Definition at line 63 of file organized_multi_plane_segmentation.h.

Member Typedef Documentation

◆ PlaneComparator

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneComparator = pcl::PlaneCoefficientComparator<PointT, PointNT>

Definition at line 83 of file organized_multi_plane_segmentation.h.

◆ PlaneComparatorConstPtr

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneComparatorConstPtr = typename PlaneComparator::ConstPtr

Definition at line 85 of file organized_multi_plane_segmentation.h.

◆ PlaneComparatorPtr

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneComparatorPtr = typename PlaneComparator::Ptr

Definition at line 84 of file organized_multi_plane_segmentation.h.

◆ PlaneRefinementComparator

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneRefinementComparator = pcl::PlaneRefinementComparator<PointT, PointNT, PointLT>

Definition at line 87 of file organized_multi_plane_segmentation.h.

◆ PlaneRefinementComparatorConstPtr

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneRefinementComparatorConstPtr = typename PlaneRefinementComparator::ConstPtr

Definition at line 89 of file organized_multi_plane_segmentation.h.

◆ PlaneRefinementComparatorPtr

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PlaneRefinementComparatorPtr = typename PlaneRefinementComparator::Ptr

Definition at line 88 of file organized_multi_plane_segmentation.h.

◆ PointCloud

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 71 of file organized_multi_plane_segmentation.h.

◆ PointCloudConstPtr

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 73 of file organized_multi_plane_segmentation.h.

◆ PointCloudL

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudL = pcl::PointCloud<PointLT>

Definition at line 79 of file organized_multi_plane_segmentation.h.

◆ PointCloudLConstPtr

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudLConstPtr = typename PointCloudL::ConstPtr

Definition at line 81 of file organized_multi_plane_segmentation.h.

◆ PointCloudLPtr

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudLPtr = typename PointCloudL::Ptr

Definition at line 80 of file organized_multi_plane_segmentation.h.

◆ PointCloudN

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudN = pcl::PointCloud<PointNT>

Definition at line 75 of file organized_multi_plane_segmentation.h.

◆ PointCloudNConstPtr

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 77 of file organized_multi_plane_segmentation.h.

◆ PointCloudNPtr

template<typename PointT , typename PointNT , typename PointLT >

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

Definition at line 76 of file organized_multi_plane_segmentation.h.

◆ PointCloudPtr

template<typename PointT , typename PointNT , typename PointLT >

using pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 72 of file organized_multi_plane_segmentation.h.

Constructor & Destructor Documentation

◆ OrganizedMultiPlaneSegmentation()

template<typename PointT , typename PointNT , typename PointLT >

pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::OrganizedMultiPlaneSegmentation ( )

default

Constructor for OrganizedMultiPlaneSegmentation.

◆ ~OrganizedMultiPlaneSegmentation()

template<typename PointT , typename PointNT , typename PointLT >

pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::~OrganizedMultiPlaneSegmentation ( )

overridedefault

Destructor for OrganizedMultiPlaneSegmentation.

Member Function Documentation

◆ getAngularThreshold()

template<typename PointT , typename PointNT , typename PointLT >

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::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 141 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::angular_threshold_.

◆ getClassName()

template<typename PointT , typename PointNT , typename PointLT >

virtual std::string pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getClassName ( ) const

inlineprotectedvirtual

Class getName method.

Definition at line 298 of file organized_multi_plane_segmentation.h.

◆ getDistanceThreshold()

template<typename PointT , typename PointNT , typename PointLT >

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::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 157 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::distance_threshold_.

◆ getInputNormals()

template<typename PointT , typename PointNT , typename PointLT >

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

inline

Get the input normals.

Definition at line 109 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::normals_.

◆ getMaximumCurvature()

template<typename PointT , typename PointNT , typename PointLT >

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getMaximumCurvature ( ) const

inline

Get the maximum curvature allowed for a planar region.

Definition at line 173 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::maximum_curvature_.

◆ getMinInliers()

template<typename PointT , typename PointNT , typename PointLT >

unsigned pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getMinInliers ( ) const

inline

Get the minimum number of inliers required per plane.

Definition at line 125 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::min_inliers_.

◆ refine()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::refine	(	std::vector< ModelCoefficients > &	model_coefficients,
		std::vector< PointIndices > &	inlier_indices,
		PointCloudLPtr &	labels,
		std::vector< pcl::PointIndices > &	label_indices
	)

Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.

Parameters

[in]	model_coefficients	The list of segmented model coefficients
[in]	inlier_indices	The list of segmented inlier indices, corresponding to each model
[in]	labels	The labels produced by the initial segmentation
[in]	label_indices	The list of indices corresponding to each label

Definition at line 321 of file organized_multi_plane_segmentation.hpp.

◆ segment() [1/3]

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment	(	std::vector< ModelCoefficients > &	model_coefficients,
		std::vector< PointIndices > &	inlier_indices
	)

Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()

Parameters

[out]	model_coefficients	a vector of model_coefficients for each plane found in the input cloud
[out]	inlier_indices	a vector of inliers for each detected plane

Definition at line 71 of file organized_multi_plane_segmentation.hpp.

◆ segment() [2/3]

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment	(	std::vector< ModelCoefficients > &	model_coefficients,
		std::vector< PointIndices > &	inlier_indices,
		std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &	centroids,
		std::vector< Eigen::Matrix3f, Eigen::aligned_allocator< Eigen::Matrix3f > > &	covariances,
		pcl::PointCloud< PointLT > &	labels,
		std::vector< pcl::PointIndices > &	label_indices
	)

Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()

Parameters

[out]	model_coefficients	a vector of model_coefficients for each plane found in the input cloud
[out]	inlier_indices	a vector of inliers for each detected plane
[out]	centroids	a vector of centroids for each plane
[out]	covariances	a vector of covariance matrices for the inliers of each plane
[out]	labels	a point cloud for the connected component labels of each pixel
[out]	label_indices	a vector of PointIndices for each labeled component

Definition at line 83 of file organized_multi_plane_segmentation.hpp.

References pcl::computeMeanAndCovarianceMatrix(), pcl::eigen33(), pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::segment(), pcl::PCLBase< PointT >::setInputCloud(), and pcl::ModelCoefficients::values.

◆ segment() [3/3]

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment ( std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > & regions )

Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()

Parameters

[out] regions a list of resultant planar polygonal regions

Definition at line 196 of file organized_multi_plane_segmentation.hpp.

References pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::findLabeledRegionBoundary(), and pcl::PointCloud< PointT >::resize().

◆ segmentAndRefine() [1/2]

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segmentAndRefine ( std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > & regions )

Perform a segmentation, as well as an additional refinement step.

This helps with including points whose normals may not match neighboring points well, but may match the planar model well.

Parameters

[out] regions A list of regions generated by segmentation and refinement.

Definition at line 233 of file organized_multi_plane_segmentation.hpp.

◆ segmentAndRefine() [2/2]

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segmentAndRefine	(	std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &	regions,
		std::vector< ModelCoefficients > &	model_coefficients,
		std::vector< PointIndices > &	inlier_indices,
		PointCloudLPtr &	labels,
		std::vector< pcl::PointIndices > &	label_indices,
		std::vector< pcl::PointIndices > &	boundary_indices
	)

Perform a segmentation, as well as additional refinement step.

Returns intermediate data structures for use in subsequent processing.

Parameters

[out]	regions	A vector of PlanarRegions generated by segmentation
[out]	model_coefficients	A vector of model coefficients for each segmented plane
[out]	inlier_indices	A vector of PointIndices, indicating the inliers to each segmented plane
[out]	labels	A PointCloud<PointLT> corresponding to the resulting segmentation.
[out]	label_indices	A vector of PointIndices for each label
[out]	boundary_indices	A vector of PointIndices corresponding to the outer boundary / contour of each label

Definition at line 277 of file organized_multi_plane_segmentation.hpp.

References pcl::PointCloud< PointT >::empty(), pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >::findLabeledRegionBoundary(), pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::resize().

◆ setAngularThreshold()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setAngularThreshold ( double angular_threshold )

inline

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 134 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::angular_threshold_.

◆ setComparator()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setComparator ( const PlaneComparatorPtr & compare )

inline

Provide a pointer to the comparator to be used for segmentation.

Parameters

[in] compare A pointer to the comparator to be used for segmentation.

Definition at line 182 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::compare_.

◆ setDistanceThreshold()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setDistanceThreshold ( double distance_threshold )

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

Definition at line 150 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::distance_threshold_.

◆ setInputNormals()

template<typename PointT , typename PointNT , typename PointLT >

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

inline

Provide a pointer to the input normals.

Parameters

[in] normals the input normal cloud

Definition at line 102 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::normals_.

◆ setMaximumCurvature()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setMaximumCurvature ( double maximum_curvature )

inline

Set the maximum curvature allowed for a planar region.

Parameters

[in] maximum_curvature the maximum curvature

Definition at line 166 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::maximum_curvature_.

◆ setMinInliers()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setMinInliers ( unsigned min_inliers )

inline

Set the minimum number of inliers required for a plane.

Parameters

[in] min_inliers the minimum number of inliers required per plane

Definition at line 118 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::min_inliers_.

◆ setProjectPoints()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setProjectPoints ( bool project_points )

inline

Set whether or not to project boundary points to the plane, or leave them in the original 3D space.

Parameters

[in] project_points true if points should be projected, false if not.

Definition at line 200 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::project_points_.

◆ setRefinementComparator()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setRefinementComparator ( const PlaneRefinementComparatorPtr & compare )

inline

Provide a pointer to the comparator to be used for refinement.

Parameters

[in] compare A pointer to the comparator to be used for refinement.

Definition at line 191 of file organized_multi_plane_segmentation.h.

References pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::refinement_compare_.

Member Data Documentation

◆ angular_threshold_

template<typename PointT , typename PointNT , typename PointLT >

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::angular_threshold_ {pcl::deg2rad (3.0)}

protected

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

Definition at line 279 of file organized_multi_plane_segmentation.h.

Referenced by pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::getAngularThreshold(), and pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setAngularThreshold().

◆ compare_

template<typename PointT , typename PointNT , typename PointLT >

PlaneComparatorPtr pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::compare_ {new PlaneComparator}

protected

A comparator for comparing neighboring pixels' plane equations.

Definition at line 291 of file organized_multi_plane_segmentation.h.

Referenced by pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::setComparator().

◆ distance_threshold_

template<typename PointT , typename PointNT , typename PointLT >

double pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::distance_threshold_ {0.02}

protected

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.

Definition at line 282 of file organized_multi_plane_segmentation.h.

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