40 #ifndef PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
41 #define PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
43 #include <pcl/common/angles.h>
44 #include <pcl/segmentation/boost.h>
45 #include <pcl/segmentation/comparator.h>
54 template<
typename Po
intT,
typename Po
intNT>
65 typedef boost::shared_ptr<PlaneCoefficientComparator<PointT, PointNT> >
Ptr;
66 typedef boost::shared_ptr<const PlaneCoefficientComparator<PointT, PointNT> >
ConstPtr;
77 ,
z_axis_ (Eigen::Vector3f (0.0, 0.0, 1.0) )
90 ,
z_axis_ (Eigen::Vector3f (0.0f, 0.0f, 1.0f) )
137 plane_coeff_d_ = boost::make_shared<std::vector<float> >(plane_coeff_d);
141 const std::vector<float>&
169 bool depth_dependent =
false)
193 Eigen::Vector3f vec =
input_->points[idx1].getVector3fMap ();
211 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
215 #endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
void setDistanceThreshold(float distance_threshold, bool depth_dependent=false)
Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...
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.
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
boost::shared_ptr< std::vector< float > > plane_coeff_d_
Comparator< PointT >::PointCloudConstPtr PointCloudConstPtr
PlaneCoefficientComparator()
Empty constructor for PlaneCoefficientComparator.
PointCloudConstPtr input_
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
void setPlaneCoeffD(std::vector< float > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
PlaneCoefficientComparator(boost::shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for PlaneCoefficientComparator.
PointCloud::ConstPtr PointCloudConstPtr
Comparator< PointT >::PointCloud PointCloud
virtual bool compare(int idx1, int idx2) const
Compare points at two indices by their plane equations.
virtual void setAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points...
PointCloudN::ConstPtr PointCloudNConstPtr
boost::shared_ptr< const PlaneCoefficientComparator< PointT, PointNT > > ConstPtr
float deg2rad(float alpha)
Convert an angle from degrees to radians.
const std::vector< float > & getPlaneCoeffD() const
Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.
PointCloudNConstPtr getInputNormals() const
Get the input normals.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Set the input cloud for the comparator.
boost::shared_ptr< PlaneCoefficientComparator< PointT, PointNT > > Ptr
PointCloudN::Ptr PointCloudNPtr
boost::shared_ptr< PointCloud< PointT > > Ptr
float distance_threshold_
Comparator is the base class for comparators that compare two points given some function.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
pcl::PointCloud< PointNT > PointCloudN
float getDistanceThreshold() const
Get the distance threshold in meters (d component of plane equation) between neighboring points...
PointCloudNConstPtr normals_
float getAngularThreshold() const
Get the angular threshold in radians for difference in normal direction between neighboring points...
virtual ~PlaneCoefficientComparator()
Destructor for PlaneCoefficientComparator.