Point Cloud Library (PCL)  1.14.0-dev
List of all members | Public Types | Public Member Functions | Public Attributes | Protected Attributes
pcl::gpu::people::OrganizedPlaneDetector Class Reference

#include </__w/1/s/gpu/people/include/pcl/gpu/people/organized_plane_detector.h>

+ Collaboration diagram for pcl::gpu::people::OrganizedPlaneDetector:

Public Types

using Ptr = shared_ptr< OrganizedPlaneDetector >
 
using ConstPtr = shared_ptr< const OrganizedPlaneDetector >
 
using PointTC = pcl::PointXYZRGBA
 
using PointT = pcl::PointXYZ
 
using HostLabelProbability = pcl::PointCloud< pcl::device::prob_histogram >
 

Public Member Functions

 OrganizedPlaneDetector (int rows=480, int cols=640)
 This is the constructor. More...
 
void process (const PointCloud< PointTC >::ConstPtr &cloud)
 Process step, this wraps Organized Plane Segmentation code. More...
 
double getMpsAngularThreshold () const
 
void setMpsAngularThreshold (double mpsAngularThreshold)
 
double getMpsDistanceThreshold () const
 
void setMpsDistanceThreshold (double mpsDistanceThreshold)
 
int getMpsMinInliers () const
 
void setMpsMinInliers (int mpsMinInliers)
 
float getNeMaxDepthChangeFactor () const
 
void setNeMaxDepthChangeFactor (float neMaxDepthChangeFactor)
 
float getNeNormalSmoothingSize () const
 
void setNeNormalSmoothingSize (float neNormalSmoothingSize)
 
void emptyHostLabelProbability (HostLabelProbability &histogram)
 
int copyHostLabelProbability (HostLabelProbability &src, HostLabelProbability &dst)
 
int copyAndClearHostLabelProbability (HostLabelProbability &src, HostLabelProbability &dst)
 

Public Attributes

HostLabelProbability P_l_host_
 
HostLabelProbability P_l_host_prev_
 
pcl::device::LabelProbability P_l_dev_
 
pcl::device::LabelProbability P_l_dev_prev_
 

Protected Attributes

pcl::IntegralImageNormalEstimation< PointTC, pcl::Normal > ne_
 
pcl::OrganizedMultiPlaneSegmentation< PointTC, pcl::Normal, pcl::Label > mps_
 
float ne_NormalSmoothingSize_
 
float ne_MaxDepthChangeFactor_
 
int mps_MinInliers_
 
double mps_AngularThreshold_
 
double mps_DistanceThreshold_
 
bool mps_use_planar_refinement_
 

Detailed Description

Definition at line 58 of file organized_plane_detector.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::gpu::people::OrganizedPlaneDetector::ConstPtr = shared_ptr<const OrganizedPlaneDetector>

Definition at line 62 of file organized_plane_detector.h.

◆ HostLabelProbability

using pcl::gpu::people::OrganizedPlaneDetector::HostLabelProbability = pcl::PointCloud<pcl::device::prob_histogram>

Definition at line 67 of file organized_plane_detector.h.

◆ PointT

using pcl::gpu::people::OrganizedPlaneDetector::PointT = pcl::PointXYZ

Definition at line 65 of file organized_plane_detector.h.

◆ PointTC

using pcl::gpu::people::OrganizedPlaneDetector::PointTC = pcl::PointXYZRGBA

Definition at line 64 of file organized_plane_detector.h.

◆ Ptr

using pcl::gpu::people::OrganizedPlaneDetector::Ptr = shared_ptr<OrganizedPlaneDetector>

Definition at line 61 of file organized_plane_detector.h.

Constructor & Destructor Documentation

◆ OrganizedPlaneDetector()

pcl::gpu::people::OrganizedPlaneDetector::OrganizedPlaneDetector ( int  rows = 480,
int  cols = 640 
)

This is the constructor.

Member Function Documentation

◆ copyAndClearHostLabelProbability()

int pcl::gpu::people::OrganizedPlaneDetector::copyAndClearHostLabelProbability ( HostLabelProbability &  src,
HostLabelProbability &  dst 
)

◆ copyHostLabelProbability()

int pcl::gpu::people::OrganizedPlaneDetector::copyHostLabelProbability ( HostLabelProbability &  src,
HostLabelProbability &  dst 
)

◆ emptyHostLabelProbability()

void pcl::gpu::people::OrganizedPlaneDetector::emptyHostLabelProbability ( HostLabelProbability &  histogram)

◆ getMpsAngularThreshold()

double pcl::gpu::people::OrganizedPlaneDetector::getMpsAngularThreshold ( ) const
inline

Definition at line 98 of file organized_plane_detector.h.

References mps_AngularThreshold_.

◆ getMpsDistanceThreshold()

double pcl::gpu::people::OrganizedPlaneDetector::getMpsDistanceThreshold ( ) const
inline

Definition at line 109 of file organized_plane_detector.h.

References mps_DistanceThreshold_.

◆ getMpsMinInliers()

int pcl::gpu::people::OrganizedPlaneDetector::getMpsMinInliers ( ) const
inline

Definition at line 120 of file organized_plane_detector.h.

References mps_MinInliers_.

◆ getNeMaxDepthChangeFactor()

float pcl::gpu::people::OrganizedPlaneDetector::getNeMaxDepthChangeFactor ( ) const
inline

Definition at line 133 of file organized_plane_detector.h.

References ne_MaxDepthChangeFactor_.

◆ getNeNormalSmoothingSize()

float pcl::gpu::people::OrganizedPlaneDetector::getNeNormalSmoothingSize ( ) const
inline

Definition at line 144 of file organized_plane_detector.h.

References ne_NormalSmoothingSize_.

◆ process()

void pcl::gpu::people::OrganizedPlaneDetector::process ( const PointCloud< PointTC >::ConstPtr &  cloud)

Process step, this wraps Organized Plane Segmentation code.

◆ setMpsAngularThreshold()

void pcl::gpu::people::OrganizedPlaneDetector::setMpsAngularThreshold ( double  mpsAngularThreshold)
inline

Definition at line 103 of file organized_plane_detector.h.

References mps_, and mps_AngularThreshold_.

◆ setMpsDistanceThreshold()

void pcl::gpu::people::OrganizedPlaneDetector::setMpsDistanceThreshold ( double  mpsDistanceThreshold)
inline

Definition at line 114 of file organized_plane_detector.h.

References mps_, and mps_DistanceThreshold_.

◆ setMpsMinInliers()

void pcl::gpu::people::OrganizedPlaneDetector::setMpsMinInliers ( int  mpsMinInliers)
inline

Definition at line 125 of file organized_plane_detector.h.

References mps_, and mps_MinInliers_.

◆ setNeMaxDepthChangeFactor()

void pcl::gpu::people::OrganizedPlaneDetector::setNeMaxDepthChangeFactor ( float  neMaxDepthChangeFactor)
inline

Definition at line 138 of file organized_plane_detector.h.

References ne_, and ne_MaxDepthChangeFactor_.

◆ setNeNormalSmoothingSize()

void pcl::gpu::people::OrganizedPlaneDetector::setNeNormalSmoothingSize ( float  neNormalSmoothingSize)
inline

Definition at line 149 of file organized_plane_detector.h.

References ne_, and ne_NormalSmoothingSize_.

Member Data Documentation

◆ mps_

pcl::OrganizedMultiPlaneSegmentation<PointTC, pcl::Normal, pcl::Label> pcl::gpu::people::OrganizedPlaneDetector::mps_
protected

Definition at line 81 of file organized_plane_detector.h.

Referenced by setMpsAngularThreshold(), setMpsDistanceThreshold(), and setMpsMinInliers().

◆ mps_AngularThreshold_

double pcl::gpu::people::OrganizedPlaneDetector::mps_AngularThreshold_
protected

Definition at line 87 of file organized_plane_detector.h.

Referenced by getMpsAngularThreshold(), and setMpsAngularThreshold().

◆ mps_DistanceThreshold_

double pcl::gpu::people::OrganizedPlaneDetector::mps_DistanceThreshold_
protected

Definition at line 88 of file organized_plane_detector.h.

Referenced by getMpsDistanceThreshold(), and setMpsDistanceThreshold().

◆ mps_MinInliers_

int pcl::gpu::people::OrganizedPlaneDetector::mps_MinInliers_
protected

Definition at line 86 of file organized_plane_detector.h.

Referenced by getMpsMinInliers(), and setMpsMinInliers().

◆ mps_use_planar_refinement_

bool pcl::gpu::people::OrganizedPlaneDetector::mps_use_planar_refinement_
protected

Definition at line 89 of file organized_plane_detector.h.

◆ ne_

pcl::IntegralImageNormalEstimation<PointTC, pcl::Normal> pcl::gpu::people::OrganizedPlaneDetector::ne_
protected

Definition at line 80 of file organized_plane_detector.h.

Referenced by setNeMaxDepthChangeFactor(), and setNeNormalSmoothingSize().

◆ ne_MaxDepthChangeFactor_

float pcl::gpu::people::OrganizedPlaneDetector::ne_MaxDepthChangeFactor_
protected

Definition at line 84 of file organized_plane_detector.h.

Referenced by getNeMaxDepthChangeFactor(), and setNeMaxDepthChangeFactor().

◆ ne_NormalSmoothingSize_

float pcl::gpu::people::OrganizedPlaneDetector::ne_NormalSmoothingSize_
protected

Definition at line 83 of file organized_plane_detector.h.

Referenced by getNeNormalSmoothingSize(), and setNeNormalSmoothingSize().

◆ P_l_dev_

pcl::device::LabelProbability pcl::gpu::people::OrganizedPlaneDetector::P_l_dev_

Definition at line 76 of file organized_plane_detector.h.

◆ P_l_dev_prev_

pcl::device::LabelProbability pcl::gpu::people::OrganizedPlaneDetector::P_l_dev_prev_

Definition at line 77 of file organized_plane_detector.h.

◆ P_l_host_

HostLabelProbability pcl::gpu::people::OrganizedPlaneDetector::P_l_host_

Definition at line 73 of file organized_plane_detector.h.

◆ P_l_host_prev_

HostLabelProbability pcl::gpu::people::OrganizedPlaneDetector::P_l_host_prev_

Definition at line 74 of file organized_plane_detector.h.

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