Point Cloud Library (PCL) 1.12.0
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euclidean_plane_coefficient_comparator.h
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39
40#pragma once
41
42#include <pcl/segmentation/plane_coefficient_comparator.h>
43
44namespace pcl
45{
46 /** \brief EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients,
47 * for use in planar segmentation.
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:
61
62 using Ptr = shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> >;
63 using ConstPtr = shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> >;
64
69
70 /** \brief Empty constructor for PlaneCoefficientComparator. */
72 {
73 }
74
75 /** \brief Destructor for PlaneCoefficientComparator. */
76
78 {
79 }
80
81 /** \brief Compare two neighboring points, by using normal information, and euclidean distance information.
82 * \param[in] idx1 The index of the first point.
83 * \param[in] idx2 The index of the second point.
84 */
85 bool
86 compare (int idx1, int idx2) const override
87 {
88 float dx = (*input_)[idx1].x - (*input_)[idx2].x;
89 float dy = (*input_)[idx1].y - (*input_)[idx2].y;
90 float dz = (*input_)[idx1].z - (*input_)[idx2].z;
91 float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
92
93 return ( (dist < distance_threshold_)
94 && ((*normals_)[idx1].getNormalVector3fMap ().dot ((*normals_)[idx2].getNormalVector3fMap () ) > angular_threshold_ ) );
95 }
96 };
97}
Comparator is the base class for comparators that compare two points given some function.
Definition comparator.h:55
PointCloudConstPtr input_
Definition comparator.h:100
typename PointCloud::ConstPtr PointCloudConstPtr
Definition comparator.h:59
EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients,...
shared_ptr< EuclideanPlaneCoefficientComparator< PointT, PointNT > > Ptr
~EuclideanPlaneCoefficientComparator()
Destructor for PlaneCoefficientComparator.
typename Comparator< PointT >::PointCloudConstPtr PointCloudConstPtr
bool compare(int idx1, int idx2) const override
Compare two neighboring points, by using normal information, and euclidean distance information.
EuclideanPlaneCoefficientComparator()
Empty constructor for PlaneCoefficientComparator.
shared_ptr< const EuclideanPlaneCoefficientComparator< PointT, PointNT > > ConstPtr
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointNT > > Ptr
shared_ptr< const PointCloud< PointNT > > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.