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

GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving. More...

#include <pcl/segmentation/ground_plane_comparator.h>

+ Inheritance diagram for pcl::GroundPlaneComparator< PointT, PointNT >:

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
< GroundPlaneComparator
< PointT, PointNT > > 
Ptr
typedef boost::shared_ptr
< const GroundPlaneComparator
< PointT, PointNT > > 
ConstPtr

Public Member Functions

 GroundPlaneComparator ()
 Empty constructor for GroundPlaneComparator.
 GroundPlaneComparator (boost::shared_ptr< std::vector< float > > &plane_coeff_d)
 Constructor for GroundPlaneComparator.
virtual ~GroundPlaneComparator ()
 Destructor for GroundPlaneComparator.
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide the input cloud.
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.
virtual void setGroundAngularThreshold (float angular_threshold)
 Set the tolerance in radians for difference in normal direction between a point and the expected ground normal.
void setExpectedGroundNormal (Eigen::Vector3f normal)
 Set the expected ground plane normal with respect to the sensor.
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 bool compare (int idx1, int idx2) const
 Compare points at two indices by their plane equations.

Protected Attributes

PointCloudNConstPtr normals_
boost::shared_ptr< std::vector
< float > > 
plane_coeff_d_
float angular_threshold_
float road_angular_threshold_
float distance_threshold_
bool depth_dependent_
Eigen::Vector3f z_axis_
Eigen::Vector3f desired_road_axis_

Detailed Description

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

GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving.

In conjunction with OrganizedConnectedComponentSegmentation, this allows smooth groundplanes / road surfaces to be segmented from point clouds.

Author:
Alex Trevor

Definition at line 55 of file ground_plane_comparator.h.


Member Typedef Documentation

template<typename PointT , typename PointNT >
typedef boost::shared_ptr<const GroundPlaneComparator<PointT, PointNT> > pcl::GroundPlaneComparator< PointT, PointNT >::ConstPtr

Reimplemented from pcl::Comparator< PointT >.

Definition at line 66 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >
typedef Comparator<PointT>::PointCloud pcl::GroundPlaneComparator< PointT, PointNT >::PointCloud

Reimplemented from pcl::Comparator< PointT >.

Definition at line 58 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >
typedef Comparator<PointT>::PointCloudConstPtr pcl::GroundPlaneComparator< PointT, PointNT >::PointCloudConstPtr

Reimplemented from pcl::Comparator< PointT >.

Definition at line 59 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >
typedef pcl::PointCloud<PointNT> pcl::GroundPlaneComparator< PointT, PointNT >::PointCloudN

Definition at line 61 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >
typedef PointCloudN::ConstPtr pcl::GroundPlaneComparator< PointT, PointNT >::PointCloudNConstPtr

Definition at line 63 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >
typedef PointCloudN::Ptr pcl::GroundPlaneComparator< PointT, PointNT >::PointCloudNPtr

Definition at line 62 of file ground_plane_comparator.h.

template<typename PointT , typename PointNT >
typedef boost::shared_ptr<GroundPlaneComparator<PointT, PointNT> > pcl::GroundPlaneComparator< PointT, PointNT >::Ptr

Reimplemented from pcl::Comparator< PointT >.

Definition at line 65 of file ground_plane_comparator.h.


Constructor & Destructor Documentation

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

Empty constructor for GroundPlaneComparator.

Definition at line 71 of file ground_plane_comparator.h.

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

Constructor for GroundPlaneComparator.

Parameters:
[in]plane_coeff_da 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 86 of file ground_plane_comparator.h.

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

Destructor for GroundPlaneComparator.

Definition at line 100 of file ground_plane_comparator.h.


Member Function Documentation

template<typename PointT , typename PointNT >
virtual bool pcl::GroundPlaneComparator< PointT, PointNT >::compare ( int  idx1,
int  idx2 
) const [inline, virtual]

Compare points at two indices by their plane equations.

True if the angle between the normals is less than the angular threshold, and the difference between the d component of the normals is less than distance threshold, else false

Parameters:
idx1The first index for the comparison
idx2The second index for the comparison

Implements pcl::Comparator< PointT >.

Definition at line 213 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_, pcl::GroundPlaneComparator< PointT, PointNT >::depth_dependent_, pcl::GroundPlaneComparator< PointT, PointNT >::desired_road_axis_, pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_, pcl::Comparator< PointT >::input_, pcl::GroundPlaneComparator< PointT, PointNT >::normals_, pcl::GroundPlaneComparator< PointT, PointNT >::road_angular_threshold_, and pcl::GroundPlaneComparator< PointT, PointNT >::z_axis_.

template<typename PointT , typename PointNT >
float pcl::GroundPlaneComparator< PointT, PointNT >::getAngularThreshold ( ) const [inline]

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 183 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_.

template<typename PointT , typename PointNT >
float pcl::GroundPlaneComparator< PointT, PointNT >::getDistanceThreshold ( ) const [inline]

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 202 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_.

template<typename PointT , typename PointNT >
PointCloudNConstPtr pcl::GroundPlaneComparator< PointT, PointNT >::getInputNormals ( ) const [inline]

Get the input normals.

Definition at line 123 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::normals_.

template<typename PointT , typename PointNT >
const std::vector<float>& pcl::GroundPlaneComparator< PointT, PointNT >::getPlaneCoeffD ( ) const [inline]

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

Definition at line 148 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_.

template<typename PointT , typename PointNT >
virtual void pcl::GroundPlaneComparator< PointT, PointNT >::setAngularThreshold ( float  angular_threshold) [inline, virtual]

Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.

Parameters:
[in]angular_thresholdthe tolerance in radians

Definition at line 157 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_.

template<typename PointT , typename PointNT >
void pcl::GroundPlaneComparator< PointT, PointNT >::setDistanceThreshold ( float  distance_threshold,
bool  depth_dependent = false 
) [inline]

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_thresholdthe tolerance in meters (at 1m)
[in]depth_dependentwhether to scale the threshold based on range from the sensor (default: false)

Definition at line 193 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::depth_dependent_, and pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_.

template<typename PointT , typename PointNT >
void pcl::GroundPlaneComparator< PointT, PointNT >::setExpectedGroundNormal ( Eigen::Vector3f  normal) [inline]

Set the expected ground plane normal with respect to the sensor.

Pixels labeled as ground must be within ground_angular_threshold radians of this normal to be labeled as ground.

Parameters:
[in]normalThe normal direction of the expected ground plane.

Definition at line 175 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::desired_road_axis_.

template<typename PointT , typename PointNT >
virtual void pcl::GroundPlaneComparator< PointT, PointNT >::setGroundAngularThreshold ( float  angular_threshold) [inline, virtual]

Set the tolerance in radians for difference in normal direction between a point and the expected ground normal.

Parameters:
[in]angular_thresholdthe

Definition at line 166 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::road_angular_threshold_.

template<typename PointT , typename PointNT >
virtual void pcl::GroundPlaneComparator< PointT, PointNT >::setInputCloud ( const PointCloudConstPtr cloud) [inline, virtual]

Provide the input cloud.

Parameters:
[in]cloudthe input point cloud.

Reimplemented from pcl::Comparator< PointT >.

Definition at line 107 of file ground_plane_comparator.h.

References pcl::Comparator< PointT >::input_.

template<typename PointT , typename PointNT >
void pcl::GroundPlaneComparator< PointT, PointNT >::setInputNormals ( const PointCloudNConstPtr normals) [inline]

Provide a pointer to the input normals.

Parameters:
[in]normalsthe input normal cloud.

Definition at line 116 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::normals_.

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

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_da pointer to the plane coefficients.

Definition at line 132 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_.

template<typename PointT , typename PointNT >
void pcl::GroundPlaneComparator< PointT, PointNT >::setPlaneCoeffD ( std::vector< float > &  plane_coeff_d) [inline]

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_da pointer to the plane coefficients.

Definition at line 141 of file ground_plane_comparator.h.

References pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_.


Member Data Documentation

template<typename PointT , typename PointNT >
float pcl::GroundPlaneComparator< PointT, PointNT >::angular_threshold_ [protected]
template<typename PointT , typename PointNT >
bool pcl::GroundPlaneComparator< PointT, PointNT >::depth_dependent_ [protected]
template<typename PointT , typename PointNT >
Eigen::Vector3f pcl::GroundPlaneComparator< PointT, PointNT >::desired_road_axis_ [protected]
template<typename PointT , typename PointNT >
float pcl::GroundPlaneComparator< PointT, PointNT >::distance_threshold_ [protected]
template<typename PointT , typename PointNT >
PointCloudNConstPtr pcl::GroundPlaneComparator< PointT, PointNT >::normals_ [protected]
template<typename PointT , typename PointNT >
boost::shared_ptr<std::vector<float> > pcl::GroundPlaneComparator< PointT, PointNT >::plane_coeff_d_ [protected]
template<typename PointT , typename PointNT >
float pcl::GroundPlaneComparator< PointT, PointNT >::road_angular_threshold_ [protected]
template<typename PointT , typename PointNT >
Eigen::Vector3f pcl::GroundPlaneComparator< PointT, PointNT >::z_axis_ [protected]

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