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

#include <pcl/segmentation/edge_aware_plane_comparator.h>

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

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

Public Types
typedef Comparator< PointT > ::PointCloud	PointCloud
typedef Comparator< PointT > ::PointCloudConstPtr	PointCloudConstPtr
typedef pcl::PointCloud< PointNT >	PointCloudN
typedef PointCloudN::Ptr	PointCloudNPtr
typedef PointCloudN::ConstPtr	PointCloudNConstPtr
typedef boost::shared_ptr < EdgeAwarePlaneComparator < PointT, PointNT > >	Ptr
typedef boost::shared_ptr < const EdgeAwarePlaneComparator < PointT, PointNT > >	ConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Public Member Functions
	EdgeAwarePlaneComparator ()
	Empty constructor for PlaneCoefficientComparator.
	EdgeAwarePlaneComparator (const float *distance_map)
	Empty constructor for PlaneCoefficientComparator.
virtual	~EdgeAwarePlaneComparator ()
	Destructor for PlaneCoefficientComparator.
void	setDistanceMap (const float *distance_map)
	Set a distance map to use.
const float *	getDistanceMap () const
	Return the distance map used.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Set the input cloud for the comparator.
void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input normals.
PointCloudNConstPtr	getInputNormals () const
	Get the input normals.
void	setPlaneCoeffD (boost::shared_ptr< std::vector< float > > &plane_coeff_d)
	Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
void	setPlaneCoeffD (std::vector< float > &plane_coeff_d)
	Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
const std::vector< float > &	getPlaneCoeffD () const
	Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.
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.
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.
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.
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.
virtual PointCloudConstPtr	getInputCloud () const
	Get the input cloud this comparator operates on.

Detailed Description

template<typename PointT, typename PointNT>
class pcl::EdgeAwarePlaneComparator< PointT, PointNT >

EdgeAwarePlaneComparator 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:: Stefan Holzer, Alex Trevor

Definition at line 55 of file edge_aware_plane_comparator.h.

Member Typedef Documentation

template<typename PointT , typename PointNT >

typedef boost::shared_ptr<const EdgeAwarePlaneComparator<PointT, PointNT> > pcl::EdgeAwarePlaneComparator< PointT, PointNT >::ConstPtr

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 66 of file edge_aware_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef Comparator<PointT>::PointCloud pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloud

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 58 of file edge_aware_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef Comparator<PointT>::PointCloudConstPtr pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudConstPtr

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 59 of file edge_aware_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef pcl::PointCloud<PointNT> pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudN

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 61 of file edge_aware_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef PointCloudN::ConstPtr pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudNConstPtr

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 63 of file edge_aware_plane_comparator.h.

template<typename PointT , typename PointNT >

typedef PointCloudN::Ptr pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudNPtr

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 62 of file edge_aware_plane_comparator.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::Comparator< PointT >::PointCloudPtr [inherited]

Definition at line 57 of file comparator.h.

template<typename PointT , typename PointNT >

typedef boost::shared_ptr<EdgeAwarePlaneComparator<PointT, PointNT> > pcl::EdgeAwarePlaneComparator< PointT, PointNT >::Ptr

Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.

Definition at line 65 of file edge_aware_plane_comparator.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT >

pcl::EdgeAwarePlaneComparator< PointT, PointNT >::EdgeAwarePlaneComparator ( ) [inline]

Empty constructor for PlaneCoefficientComparator.

Definition at line 75 of file edge_aware_plane_comparator.h.

template<typename PointT , typename PointNT >

pcl::EdgeAwarePlaneComparator< PointT, PointNT >::EdgeAwarePlaneComparator ( const float * distance_map ) [inline]

Empty constructor for PlaneCoefficientComparator.

Parameters:

[in] distance_map the distance map to use

Definition at line 82 of file edge_aware_plane_comparator.h.

template<typename PointT , typename PointNT >

virtual pcl::EdgeAwarePlaneComparator< PointT, PointNT >::~EdgeAwarePlaneComparator ( ) [inline, virtual]

Destructor for PlaneCoefficientComparator.

Definition at line 89 of file edge_aware_plane_comparator.h.

Member Function Documentation

template<typename PointT , typename PointNT >

float pcl::PlaneCoefficientComparator< PointT, PointNT >::getAngularThreshold ( ) const [inline, inherited]

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 158 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

const float* pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getDistanceMap ( ) const [inline]

Return the distance map used.

Definition at line 105 of file edge_aware_plane_comparator.h.

template<typename PointT , typename PointNT >

float pcl::PlaneCoefficientComparator< PointT, PointNT >::getDistanceThreshold ( ) const [inline, inherited]

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 177 of file plane_coefficient_comparator.h.

template<typename PointT>

virtual PointCloudConstPtr pcl::Comparator< PointT >::getInputCloud ( ) const [inline, virtual, inherited]

Get the input cloud this comparator operates on.

Definition at line 85 of file comparator.h.

template<typename PointT , typename PointNT >

PointCloudNConstPtr pcl::PlaneCoefficientComparator< PointT, PointNT >::getInputNormals ( ) const [inline, inherited]

Get the input normals.

Definition at line 117 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

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

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

Definition at line 142 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

virtual void pcl::PlaneCoefficientComparator< PointT, PointNT >::setAngularThreshold ( float angular_threshold ) [inline, virtual, inherited]

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 151 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setDistanceMap ( const float * distance_map ) [inline]

Set a distance map to use.

For an example of a valid distance map see OrganizedIntegralImageNormalEstimation

Parameters:

[in] distance_map the distance map to use

Definition at line 98 of file edge_aware_plane_comparator.h.

template<typename PointT , typename PointNT >

void pcl::PlaneCoefficientComparator< PointT, PointNT >::setDistanceThreshold	(	float	distance_threshold,
		bool	depth_dependent = `false`
	)		`[inline, inherited]`

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 168 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

virtual void pcl::PlaneCoefficientComparator< PointT, PointNT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Set the input cloud for the comparator.

Parameters:

[in] cloud the point cloud this comparator will operate on

Reimplemented from pcl::Comparator< PointT >.

Definition at line 101 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

void pcl::PlaneCoefficientComparator< PointT, PointNT >::setInputNormals ( const PointCloudNConstPtr & normals ) [inline, inherited]

Provide a pointer to the input normals.

Parameters:

[in] normals the input normal cloud

Definition at line 110 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

void pcl::PlaneCoefficientComparator< PointT, PointNT >::setPlaneCoeffD ( boost::shared_ptr< std::vector< float > > & plane_coeff_d ) [inline, inherited]

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

a, b, and c are provided by the normal cloud.

Parameters:

[in] plane_coeff_d a pointer to the plane coefficients.

Definition at line 126 of file plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

void pcl::PlaneCoefficientComparator< PointT, PointNT >::setPlaneCoeffD ( std::vector< float > & plane_coeff_d ) [inline, inherited]

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

a, b, and c are provided by the normal cloud.

Parameters:

[in] plane_coeff_d a pointer to the plane coefficients.

Definition at line 135 of file plane_coefficient_comparator.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/segmentation/include/pcl/segmentation/edge_aware_plane_comparator.h

Public Types

Public Member Functions

Detailed Description

template<typename PointT, typename PointNT> class pcl::EdgeAwarePlaneComparator< PointT, PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename PointNT>
class pcl::EdgeAwarePlaneComparator< PointT, PointNT >