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 >:

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

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List of all members.

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 < RGBPlaneCoefficientComparator < PointT, PointNT > >	Ptr
typedef boost::shared_ptr < const RGBPlaneCoefficientComparator < PointT, PointNT > >	ConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Public Member Functions
	RGBPlaneCoefficientComparator ()
	Empty constructor for RGBPlaneCoefficientComparator.
	RGBPlaneCoefficientComparator (boost::shared_ptr< std::vector< float > > &plane_coeff_d)
	Constructor for RGBPlaneCoefficientComparator.
virtual	~RGBPlaneCoefficientComparator ()
	Destructor for RGBPlaneCoefficientComparator.
void	setColorThreshold (float color_threshold)
	Set the tolerance in color space between neighboring points, to be considered part of the same plane.
float	getColorThreshold () const
	Get the color threshold between neighboring points, to be considered part of the same plane.
bool	compare (int idx1, int idx2) const
	Compare two neighboring points, by using normal information, euclidean distance, and color information.
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::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 55 of file rgb_plane_coefficient_comparator.h.

Member Typedef Documentation

template<typename PointT , typename PointNT >

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

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

Definition at line 66 of file rgb_plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

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

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

Definition at line 58 of file rgb_plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

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

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

Definition at line 59 of file rgb_plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

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

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

Definition at line 61 of file rgb_plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

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

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

Definition at line 63 of file rgb_plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

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

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

Definition at line 62 of file rgb_plane_coefficient_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<RGBPlaneCoefficientComparator<PointT, PointNT> > pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::Ptr

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

Definition at line 65 of file rgb_plane_coefficient_comparator.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT >

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

Empty constructor for RGBPlaneCoefficientComparator.

Definition at line 74 of file rgb_plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::RGBPlaneCoefficientComparator ( boost::shared_ptr< std::vector< float > > & plane_coeff_d ) [inline]

Constructor for RGBPlaneCoefficientComparator.

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 82 of file rgb_plane_coefficient_comparator.h.

template<typename PointT , typename PointNT >

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

Destructor for RGBPlaneCoefficientComparator.

Definition at line 89 of file rgb_plane_coefficient_comparator.h.

Member Function Documentation

template<typename PointT , typename PointNT >

bool pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::compare	(	int	idx1,
		int	idx2
	)		const `[inline, virtual]`

Compare two neighboring points, by using normal information, euclidean distance, and color information.

Parameters:

[in]	idx1	The index of the first point.
[in]	idx2	The index of the second point.

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

Definition at line 114 of file rgb_plane_coefficient_comparator.h.

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 >

float pcl::RGBPlaneCoefficientComparator< PointT, PointNT >::getColorThreshold ( ) const [inline]

Get the color threshold between neighboring points, to be considered part of the same plane.

Definition at line 104 of file rgb_plane_coefficient_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::RGBPlaneCoefficientComparator< PointT, PointNT >::setColorThreshold ( float color_threshold ) [inline]

Set the tolerance in color space between neighboring points, to be considered part of the same plane.

Parameters:

[in] color_threshold The distance in color space

Definition at line 97 of file rgb_plane_coefficient_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/rgb_plane_coefficient_comparator.h

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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