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

#include <pcl/segmentation/rgb_plane_coefficient_comparator.h>

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

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

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

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

	~RGBPlaneCoefficientComparator ()=default
	Destructor for RGBPlaneCoefficientComparator. More...

void	setColorThreshold (float color_threshold)
	Set the tolerance in color space between neighboring points, to be considered part of the same plane. More...

float	getColorThreshold () const
	Get the color threshold between neighboring points, to be considered part of the same plane. More...

bool	compare (int idx1, int idx2) const override
	Compare two neighboring points, by using normal information, euclidean distance, and color information. 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...

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
float	color_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::RGBPlaneCoefficientComparator< PointT, PointNT >

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

Also takes into account RGB, so we can segmented different colored co-planar regions. In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.

Author: Alex Trevor

Definition at line 53 of file rgb_plane_coefficient_comparator.h.