Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Attributes
pcl::PlaneRefinementComparator< PointT, PointNT, PointLT > Class Template Reference

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

#include <pcl/segmentation/plane_refinement_comparator.h>

+ Inheritance diagram for pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >:

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 pcl::PointCloud< PointLT > PointCloudL
typedef PointCloudL::Ptr PointCloudLPtr
typedef PointCloudL::ConstPtr PointCloudLConstPtr
typedef boost::shared_ptr
< PlaneRefinementComparator
< PointT, PointNT, PointLT > > 
Ptr
typedef boost::shared_ptr
< const
PlaneRefinementComparator
< PointT, PointNT, PointLT > > 
ConstPtr

Public Member Functions

 PlaneRefinementComparator ()
 Empty constructor for PlaneCoefficientComparator.
 PlaneRefinementComparator (boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &models, boost::shared_ptr< std::vector< bool > > &refine_labels)
 Empty constructor for PlaneCoefficientComparator.
virtual ~PlaneRefinementComparator ()
 Destructor for PlaneCoefficientComparator.
void setModelCoefficients (boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &models)
 Set the vector of model coefficients to which we will compare.
void setModelCoefficients (std::vector< pcl::ModelCoefficients > &models)
 Set the vector of model coefficients to which we will compare.
void setRefineLabels (boost::shared_ptr< std::vector< bool > > &refine_labels)
 Set which labels should be refined.
void setRefineLabels (std::vector< bool > &refine_labels)
 Set which labels should be refined.
void setLabelToModel (boost::shared_ptr< std::vector< int > > &label_to_model)
 A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.
void setLabelToModel (std::vector< int > &label_to_model)
 A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.
boost::shared_ptr< std::vector
< pcl::ModelCoefficients > > 
getModelCoefficients () const
 Get the vector of model coefficients to which we will compare.
void setLabels (PointCloudLPtr &labels)
 ...
virtual bool compare (int idx1, int idx2) const
 Compare two neighboring points.

Protected Attributes

boost::shared_ptr< std::vector
< pcl::ModelCoefficients > > 
models_
PointCloudLPtr labels_
boost::shared_ptr< std::vector
< bool > > 
refine_labels_
boost::shared_ptr< std::vector
< int > > 
label_to_model_
bool depth_dependent_

Detailed Description

template<typename PointT, typename PointNT, typename PointLT>
class pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >

PlaneRefinementComparator 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:
Alex Trevor, Suat Gedikli

Definition at line 55 of file plane_refinement_comparator.h.


Member Typedef Documentation

template<typename PointT , typename PointNT , typename PointLT >
typedef boost::shared_ptr<const PlaneRefinementComparator<PointT, PointNT, PointLT> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::ConstPtr
template<typename PointT , typename PointNT , typename PointLT >
typedef Comparator<PointT>::PointCloud pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloud
template<typename PointT , typename PointNT , typename PointLT >
typedef Comparator<PointT>::PointCloudConstPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudConstPtr
template<typename PointT , typename PointNT , typename PointLT >
typedef pcl::PointCloud<PointLT> pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudL

Definition at line 65 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >
typedef PointCloudL::ConstPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudLConstPtr

Definition at line 67 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >
typedef PointCloudL::Ptr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudLPtr

Definition at line 66 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >
typedef pcl::PointCloud<PointNT> pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudN
template<typename PointT , typename PointNT , typename PointLT >
typedef PointCloudN::ConstPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudNConstPtr
template<typename PointT , typename PointNT , typename PointLT >
typedef PointCloudN::Ptr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PointCloudNPtr
template<typename PointT , typename PointNT , typename PointLT >
typedef boost::shared_ptr<PlaneRefinementComparator<PointT, PointNT, PointLT> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::Ptr

Constructor & Destructor Documentation

template<typename PointT , typename PointNT , typename PointLT >
pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PlaneRefinementComparator ( ) [inline]

Empty constructor for PlaneCoefficientComparator.

Definition at line 79 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >
pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::PlaneRefinementComparator ( boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &  models,
boost::shared_ptr< std::vector< bool > > &  refine_labels 
) [inline]

Empty constructor for PlaneCoefficientComparator.

Parameters:
[in]models
[in]refine_labels

Definition at line 92 of file plane_refinement_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >
virtual pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::~PlaneRefinementComparator ( ) [inline, virtual]

Destructor for PlaneCoefficientComparator.

Definition at line 104 of file plane_refinement_comparator.h.


Member Function Documentation

template<typename PointT , typename PointNT , typename PointLT >
virtual bool pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::compare ( int  idx1,
int  idx2 
) const [inline, virtual]
template<typename PointT , typename PointNT , typename PointLT >
boost::shared_ptr<std::vector<pcl::ModelCoefficients> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::getModelCoefficients ( ) const [inline]

Get the vector of model coefficients to which we will compare.

Definition at line 164 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabels ( PointCloudLPtr labels) [inline]

...

Parameters:
[in]labels

Definition at line 173 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::labels_.

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel ( boost::shared_ptr< std::vector< int > > &  label_to_model) [inline]

A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.

Parameters:
[in]label_to_modelA vector of size max_label, with the index of each corresponding model in models

Definition at line 148 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_.

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setLabelToModel ( std::vector< int > &  label_to_model) [inline]

A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.

Parameters:
[in]label_to_modelA vector of size max_label, with the index of each corresponding model in models

Definition at line 157 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_.

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients ( boost::shared_ptr< std::vector< pcl::ModelCoefficients > > &  models) [inline]

Set the vector of model coefficients to which we will compare.

Parameters:
[in]modelsa vector of model coefficients produced by the initial segmentation step.

Definition at line 112 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setModelCoefficients ( std::vector< pcl::ModelCoefficients > &  models) [inline]

Set the vector of model coefficients to which we will compare.

Parameters:
[in]modelsa vector of model coefficients produced by the initial segmentation step.

Definition at line 121 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_.

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels ( boost::shared_ptr< std::vector< bool > > &  refine_labels) [inline]

Set which labels should be refined.

This is a vector of bools 0-max_label, true if the label should be refined.

Parameters:
[in]refine_labelsA vector of bools 0-max_label, true if the label should be refined.

Definition at line 130 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_.

template<typename PointT , typename PointNT , typename PointLT >
void pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::setRefineLabels ( std::vector< bool > &  refine_labels) [inline]

Set which labels should be refined.

This is a vector of bools 0-max_label, true if the label should be refined.

Parameters:
[in]refine_labelsA vector of bools 0-max_label, true if the label should be refined.

Definition at line 139 of file plane_refinement_comparator.h.

References pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_.


Member Data Documentation

template<typename PointT , typename PointNT , typename PointLT >
bool pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::depth_dependent_ [protected]
template<typename PointT , typename PointNT , typename PointLT >
boost::shared_ptr<std::vector<int> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::label_to_model_ [protected]
template<typename PointT , typename PointNT , typename PointLT >
PointCloudLPtr pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::labels_ [protected]
template<typename PointT , typename PointNT , typename PointLT >
boost::shared_ptr<std::vector<pcl::ModelCoefficients> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::models_ [protected]
template<typename PointT , typename PointNT , typename PointLT >
boost::shared_ptr<std::vector<bool> > pcl::PlaneRefinementComparator< PointT, PointNT, PointLT >::refine_labels_ [protected]

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