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

#include <pcl/segmentation/plane_coefficient_comparator.h>

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

Collaboration diagram for pcl::PlaneCoefficientComparator< 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< 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
	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 Attributes
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::PlaneCoefficientComparator< PointT, PointNT >

PlaneCoefficientComparator 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: Alex Trevor

Definition at line 55 of file plane_coefficient_comparator.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename PointNT >

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

Definition at line 66 of file plane_coefficient_comparator.h.

◆ PointCloud

template<typename PointT , typename PointNT >

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

Definition at line 58 of file plane_coefficient_comparator.h.

◆ PointCloudConstPtr

template<typename PointT , typename PointNT >

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

Definition at line 59 of file plane_coefficient_comparator.h.

◆ PointCloudN

template<typename PointT , typename PointNT >

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

Definition at line 61 of file plane_coefficient_comparator.h.

◆ PointCloudNConstPtr

template<typename PointT , typename PointNT >

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

Definition at line 63 of file plane_coefficient_comparator.h.

◆ PointCloudNPtr

template<typename PointT , typename PointNT >

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

Definition at line 62 of file plane_coefficient_comparator.h.

◆ Ptr

template<typename PointT , typename PointNT >

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

Definition at line 65 of file plane_coefficient_comparator.h.

Constructor & Destructor Documentation

◆ PlaneCoefficientComparator() [1/2]

template<typename PointT , typename PointNT >

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

inline

Empty constructor for PlaneCoefficientComparator.

Definition at line 71 of file plane_coefficient_comparator.h.

◆ PlaneCoefficientComparator() [2/2]

template<typename PointT , typename PointNT >

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

inline

Constructor for PlaneCoefficientComparator.

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 83 of file plane_coefficient_comparator.h.

◆ ~PlaneCoefficientComparator()

template<typename PointT , typename PointNT >

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

overridedefault

Destructor for PlaneCoefficientComparator.

Member Function Documentation

◆ compare()

template<typename PointT , typename PointNT >

bool pcl::PlaneCoefficientComparator< 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 >.

Reimplemented in pcl::RGBPlaneCoefficientComparator< PointT, PointNT >, and pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >.

Definition at line 185 of file plane_coefficient_comparator.h.

References pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_, pcl::PlaneCoefficientComparator< PointT, PointNT >::depth_dependent_, pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_, pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_, pcl::PlaneCoefficientComparator< PointT, PointNT >::plane_coeff_d_, and pcl::PlaneCoefficientComparator< PointT, PointNT >::z_axis_.

◆ getAngularThreshold()

template<typename PointT , typename PointNT >

float pcl::PlaneCoefficientComparator< 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 155 of file plane_coefficient_comparator.h.

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

◆ getDistanceThreshold()

template<typename PointT , typename PointNT >

float pcl::PlaneCoefficientComparator< 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 174 of file plane_coefficient_comparator.h.

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

◆ getInputNormals()

template<typename PointT , typename PointNT >

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

inline

Get the input normals.

Definition at line 114 of file plane_coefficient_comparator.h.

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

◆ getPlaneCoeffD()

template<typename PointT , typename PointNT >

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

inline

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

Definition at line 139 of file plane_coefficient_comparator.h.

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

◆ setAngularThreshold()

template<typename PointT , typename PointNT >

virtual void pcl::PlaneCoefficientComparator< 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 148 of file plane_coefficient_comparator.h.

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

◆ setDistanceThreshold()

template<typename PointT , typename PointNT >

void pcl::PlaneCoefficientComparator< 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 165 of file plane_coefficient_comparator.h.

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