Point Cloud Library (PCL)  1.14.0-dev
rgb_plane_coefficient_comparator.h
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39 
40 #pragma once
41 
42 #include <pcl/segmentation/plane_coefficient_comparator.h>
43 
44 namespace pcl
45 {
46  /** \brief RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients,
47  * for use in planar segmentation. Also takes into account RGB, so we can segmented different colored co-planar regions.
48  * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
49  *
50  * \author Alex Trevor
51  */
52  template<typename PointT, typename PointNT>
54  {
55  public:
58 
60  using PointCloudNPtr = typename PointCloudN::Ptr;
62 
63  using Ptr = shared_ptr<RGBPlaneCoefficientComparator<PointT, PointNT> >;
64  using ConstPtr = shared_ptr<const RGBPlaneCoefficientComparator<PointT, PointNT> >;
65 
70 
71  /** \brief Empty constructor for RGBPlaneCoefficientComparator. */
73  : color_threshold_ (50.0f)
74  {
75  }
76 
77  /** \brief Constructor for RGBPlaneCoefficientComparator.
78  * \param[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.
79  */
80  RGBPlaneCoefficientComparator (shared_ptr<std::vector<float> >& plane_coeff_d)
81  : PlaneCoefficientComparator<PointT, PointNT> (plane_coeff_d), color_threshold_ (50.0f)
82  {
83  }
84 
85  /** \brief Destructor for RGBPlaneCoefficientComparator. */
86 
88 
89  /** \brief Set the tolerance in color space between neighboring points, to be considered part of the same plane.
90  * \param[in] color_threshold The distance in color space
91  */
92  inline void
93  setColorThreshold (float color_threshold)
94  {
95  color_threshold_ = color_threshold * color_threshold;
96  }
97 
98  /** \brief Get the color threshold between neighboring points, to be considered part of the same plane. */
99  inline float
101  {
102  return (color_threshold_);
103  }
104 
105  /** \brief Compare two neighboring points, by using normal information, euclidean distance, and color information.
106  * \param[in] idx1 The index of the first point.
107  * \param[in] idx2 The index of the second point.
108  */
109  bool
110  compare (int idx1, int idx2) const override
111  {
112  float dx = (*input_)[idx1].x - (*input_)[idx2].x;
113  float dy = (*input_)[idx1].y - (*input_)[idx2].y;
114  float dz = (*input_)[idx1].z - (*input_)[idx2].z;
115  float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
116  int dr = (*input_)[idx1].r - (*input_)[idx2].r;
117  int dg = (*input_)[idx1].g - (*input_)[idx2].g;
118  int db = (*input_)[idx1].b - (*input_)[idx2].b;
119  //Note: This is not the best metric for color comparisons, we should probably use HSV space.
120  float color_dist = static_cast<float> (dr*dr + dg*dg + db*db);
121  return ( (dist < distance_threshold_)
122  && ((*normals_)[idx1].getNormalVector3fMap ().dot ((*normals_)[idx2].getNormalVector3fMap () ) > angular_threshold_ )
123  && (color_dist < color_threshold_));
124  }
125 
126  protected:
128  };
129 }
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:55
shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:61
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:59
shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:62
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
typename PointCloudN::ConstPtr PointCloudNConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointNT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointNT > > ConstPtr
Definition: point_cloud.h:414
RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients,...
bool compare(int idx1, int idx2) const override
Compare two neighboring points, by using normal information, euclidean distance, and color informatio...
RGBPlaneCoefficientComparator()
Empty constructor for RGBPlaneCoefficientComparator.
RGBPlaneCoefficientComparator(shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for RGBPlaneCoefficientComparator.
void setColorThreshold(float color_threshold)
Set the tolerance in color space between neighboring points, to be considered part of the same plane.
~RGBPlaneCoefficientComparator()=default
Destructor for RGBPlaneCoefficientComparator.
float getColorThreshold() const
Get the color threshold between neighboring points, to be considered part of the same plane.
A point structure representing Euclidean xyz coordinates, and the RGB color.