Point Cloud Library (PCL)
1.7.0
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EdgeAwarePlaneComparator is a Comparator that operates on plane coefficients, for use in planar segmentation. More...
#include <pcl/segmentation/edge_aware_plane_comparator.h>
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 < EdgeAwarePlaneComparator < PointT, PointNT > > | Ptr |
typedef boost::shared_ptr < const EdgeAwarePlaneComparator < PointT, PointNT > > | ConstPtr |
Public Member Functions | |
EdgeAwarePlaneComparator () | |
Empty constructor for PlaneCoefficientComparator. | |
EdgeAwarePlaneComparator (const float *distance_map) | |
Empty constructor for PlaneCoefficientComparator. | |
virtual | ~EdgeAwarePlaneComparator () |
Destructor for PlaneCoefficientComparator. | |
void | setDistanceMap (const float *distance_map) |
Set a distance map to use. | |
const float * | getDistanceMap () const |
Return the distance map used. | |
void | setCurvatureThreshold (float curvature_threshold) |
Set the curvature threshold for creating a new segment. | |
float | getCurvatureThreshold () const |
Get the curvature threshold. | |
void | setDistanceMapThreshold (float distance_map_threshold) |
Set the distance map threshold -- the number of pixel away from a border / nan. | |
float | getDistanceMapThreshold () const |
Get the distance map threshold (in pixels). | |
void | setEuclideanDistanceThreshold (float euclidean_distance_threshold) |
Set the euclidean distance threshold. | |
float | getEuclideanDistanceThreshold () const |
Get the euclidean distance threshold. | |
Protected Member Functions | |
bool | compare (int idx1, int idx2) const |
Compare two neighboring points, by using normal information, curvature, and euclidean distance information. | |
Protected Attributes | |
const float * | distance_map_ |
int | distance_map_threshold_ |
float | curvature_threshold_ |
float | euclidean_distance_threshold_ |
EdgeAwarePlaneComparator 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.
Definition at line 55 of file edge_aware_plane_comparator.h.
typedef boost::shared_ptr<const EdgeAwarePlaneComparator<PointT, PointNT> > pcl::EdgeAwarePlaneComparator< PointT, PointNT >::ConstPtr |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 66 of file edge_aware_plane_comparator.h.
typedef Comparator<PointT>::PointCloud pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloud |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 58 of file edge_aware_plane_comparator.h.
typedef Comparator<PointT>::PointCloudConstPtr pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudConstPtr |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 59 of file edge_aware_plane_comparator.h.
typedef pcl::PointCloud<PointNT> pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudN |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 61 of file edge_aware_plane_comparator.h.
typedef PointCloudN::ConstPtr pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudNConstPtr |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 63 of file edge_aware_plane_comparator.h.
typedef PointCloudN::Ptr pcl::EdgeAwarePlaneComparator< PointT, PointNT >::PointCloudNPtr |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 62 of file edge_aware_plane_comparator.h.
typedef boost::shared_ptr<EdgeAwarePlaneComparator<PointT, PointNT> > pcl::EdgeAwarePlaneComparator< PointT, PointNT >::Ptr |
Reimplemented from pcl::PlaneCoefficientComparator< PointT, PointNT >.
Definition at line 65 of file edge_aware_plane_comparator.h.
pcl::EdgeAwarePlaneComparator< PointT, PointNT >::EdgeAwarePlaneComparator | ( | ) | [inline] |
Empty constructor for PlaneCoefficientComparator.
Definition at line 77 of file edge_aware_plane_comparator.h.
pcl::EdgeAwarePlaneComparator< PointT, PointNT >::EdgeAwarePlaneComparator | ( | const float * | distance_map | ) | [inline] |
Empty constructor for PlaneCoefficientComparator.
[in] | distance_map | the distance map to use |
Definition at line 87 of file edge_aware_plane_comparator.h.
virtual pcl::EdgeAwarePlaneComparator< PointT, PointNT >::~EdgeAwarePlaneComparator | ( | ) | [inline, virtual] |
Destructor for PlaneCoefficientComparator.
Definition at line 97 of file edge_aware_plane_comparator.h.
bool pcl::EdgeAwarePlaneComparator< PointT, PointNT >::compare | ( | int | idx1, |
int | idx2 | ||
) | const [inline, protected, virtual] |
Compare two neighboring points, by using normal information, curvature, and euclidean distance information.
[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 172 of file edge_aware_plane_comparator.h.
References pcl::PlaneCoefficientComparator< PointT, PointNT >::angular_threshold_, pcl::EdgeAwarePlaneComparator< PointT, PointNT >::curvature_threshold_, pcl::PlaneCoefficientComparator< PointT, PointNT >::depth_dependent_, pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_, pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_threshold_, pcl::PlaneCoefficientComparator< PointT, PointNT >::distance_threshold_, pcl::EdgeAwarePlaneComparator< PointT, PointNT >::euclidean_distance_threshold_, pcl::Comparator< PointT >::input_, pcl::PlaneCoefficientComparator< PointT, PointNT >::normals_, pcl::PlaneCoefficientComparator< PointT, PointNT >::plane_coeff_d_, and pcl::PlaneCoefficientComparator< PointT, PointNT >::z_axis_.
float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getCurvatureThreshold | ( | ) | const [inline] |
Get the curvature threshold.
Definition at line 129 of file edge_aware_plane_comparator.h.
References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::curvature_threshold_.
const float* pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getDistanceMap | ( | ) | const [inline] |
Return the distance map used.
Definition at line 113 of file edge_aware_plane_comparator.h.
References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_.
float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getDistanceMapThreshold | ( | ) | const [inline] |
Get the distance map threshold (in pixels).
Definition at line 145 of file edge_aware_plane_comparator.h.
References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_threshold_.
float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getEuclideanDistanceThreshold | ( | ) | const [inline] |
Get the euclidean distance threshold.
Definition at line 161 of file edge_aware_plane_comparator.h.
References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::euclidean_distance_threshold_.
void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setCurvatureThreshold | ( | float | curvature_threshold | ) | [inline] |
Set the curvature threshold for creating a new segment.
[in] | curvature_threshold | a threshold for the curvature |
Definition at line 122 of file edge_aware_plane_comparator.h.
References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::curvature_threshold_.
void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setDistanceMap | ( | const float * | distance_map | ) | [inline] |
Set a distance map to use.
For an example of a valid distance map see OrganizedIntegralImageNormalEstimation
[in] | distance_map | the distance map to use |
Definition at line 106 of file edge_aware_plane_comparator.h.
References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_.
void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setDistanceMapThreshold | ( | float | distance_map_threshold | ) | [inline] |
Set the distance map threshold -- the number of pixel away from a border / nan.
[in] | distance_map_threshold | the distance map threshold |
Definition at line 138 of file edge_aware_plane_comparator.h.
References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_threshold_.
void pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setEuclideanDistanceThreshold | ( | float | euclidean_distance_threshold | ) | [inline] |
Set the euclidean distance threshold.
[in] | euclidean_distance_threshold | the euclidean distance threshold in meters |
Definition at line 154 of file edge_aware_plane_comparator.h.
References pcl::EdgeAwarePlaneComparator< PointT, PointNT >::euclidean_distance_threshold_.
float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::curvature_threshold_ [protected] |
const float* pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_ [protected] |
int pcl::EdgeAwarePlaneComparator< PointT, PointNT >::distance_map_threshold_ [protected] |
float pcl::EdgeAwarePlaneComparator< PointT, PointNT >::euclidean_distance_threshold_ [protected] |
Definition at line 210 of file edge_aware_plane_comparator.h.
Referenced by pcl::EdgeAwarePlaneComparator< PointT, PointNT >::compare(), pcl::EdgeAwarePlaneComparator< PointT, PointNT >::getEuclideanDistanceThreshold(), and pcl::EdgeAwarePlaneComparator< PointT, PointNT >::setEuclideanDistanceThreshold().