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

EuclideanClusterComparator is a comparator used for finding clusters supported by planar surfaces. More...

#include <pcl/segmentation/euclidean_cluster_comparator.h>

+ Inheritance diagram for pcl::EuclideanClusterComparator< 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
< EuclideanClusterComparator
< PointT, PointNT, PointLT > > 
Ptr
typedef boost::shared_ptr
< const
EuclideanClusterComparator
< PointT, PointNT, PointLT > > 
ConstPtr

Public Member Functions

 EuclideanClusterComparator ()
 Empty constructor for EuclideanClusterComparator.
virtual ~EuclideanClusterComparator ()
 Destructor for EuclideanClusterComparator.
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Set the input cloud for the comparator.
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input normals.
PointCloudNConstPtr getInputNormals () const
 Get the input normals.
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.
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)
 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.
void setLabels (PointCloudLPtr &labels)
 Set label cloud.
void setExcludeLabels (std::vector< bool > &exclude_labels)
 Set labels in the label cloud to exclude.
virtual bool compare (int idx1, int idx2) const
 Compare points at two indices by their plane equations.

Protected Attributes

PointCloudNConstPtr normals_
PointCloudLPtr labels_
boost::shared_ptr< std::vector
< bool > > 
exclude_labels_
float angular_threshold_
float distance_threshold_
bool depth_dependent_
Eigen::Vector3f z_axis_

Detailed Description

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

EuclideanClusterComparator is a comparator used for finding clusters supported by planar surfaces.

This needs to be run as a second pass after extracting planar surfaces, using MultiPlaneSegmentation for example.

Author:
Alex Trevor

Definition at line 54 of file euclidean_cluster_comparator.h.


Member Typedef Documentation

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

Reimplemented from pcl::Comparator< PointT >.

Definition at line 69 of file euclidean_cluster_comparator.h.

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

Reimplemented from pcl::Comparator< PointT >.

Definition at line 57 of file euclidean_cluster_comparator.h.

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

Reimplemented from pcl::Comparator< PointT >.

Definition at line 58 of file euclidean_cluster_comparator.h.

template<typename PointT , typename PointNT , typename PointLT >
typedef pcl::PointCloud<PointLT> pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::PointCloudL

Definition at line 64 of file euclidean_cluster_comparator.h.

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

Definition at line 66 of file euclidean_cluster_comparator.h.

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

Definition at line 65 of file euclidean_cluster_comparator.h.

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

Definition at line 60 of file euclidean_cluster_comparator.h.

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

Definition at line 62 of file euclidean_cluster_comparator.h.

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

Definition at line 61 of file euclidean_cluster_comparator.h.

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

Reimplemented from pcl::Comparator< PointT >.

Definition at line 68 of file euclidean_cluster_comparator.h.


Constructor & Destructor Documentation

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

Empty constructor for EuclideanClusterComparator.

Definition at line 74 of file euclidean_cluster_comparator.h.

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

Destructor for EuclideanClusterComparator.

Definition at line 85 of file euclidean_cluster_comparator.h.


Member Function Documentation

template<typename PointT , typename PointNT , typename PointLT >
virtual bool pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::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 170 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::depth_dependent_, pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::distance_threshold_, pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::exclude_labels_, pcl::Comparator< PointT >::input_, pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::labels_, and pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::z_axis_.

template<typename PointT , typename PointNT , typename PointLT >
float pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::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 124 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::angular_threshold_.

template<typename PointT , typename PointNT , typename PointLT >
float pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::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 141 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::distance_threshold_.

template<typename PointT , typename PointNT , typename PointLT >
PointCloudNConstPtr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::getInputNormals ( ) const [inline]
template<typename PointT , typename PointNT , typename PointLT >
virtual void pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::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 117 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::angular_threshold_.

template<typename PointT , typename PointNT , typename PointLT >
void pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::setDistanceThreshold ( float  distance_threshold,
bool  depth_dependent 
) [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

Definition at line 133 of file euclidean_cluster_comparator.h.

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

template<typename PointT , typename PointNT , typename PointLT >
void pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::setExcludeLabels ( std::vector< bool > &  exclude_labels) [inline]

Set labels in the label cloud to exclude.

Parameters:
exclude_labelsa vector of bools corresponding to whether or not a given label should be considered

Definition at line 159 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::exclude_labels_.

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

Set the input cloud for the comparator.

Parameters:
[in]cloudthe point cloud this comparator will operate on

Reimplemented from pcl::Comparator< PointT >.

Definition at line 90 of file euclidean_cluster_comparator.h.

References pcl::Comparator< PointT >::input_, and pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::z_axis_.

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

Provide a pointer to the input normals.

Parameters:
[in]normalsthe input normal cloud

Definition at line 101 of file euclidean_cluster_comparator.h.

References pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::normals_.

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

Set label cloud.

Parameters:
[in]labelsThe label cloud

Definition at line 150 of file euclidean_cluster_comparator.h.

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


Member Data Documentation

template<typename PointT , typename PointNT , typename PointLT >
float pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::angular_threshold_ [protected]
template<typename PointT , typename PointNT , typename PointLT >
bool pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::depth_dependent_ [protected]
template<typename PointT , typename PointNT , typename PointLT >
float pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::distance_threshold_ [protected]
template<typename PointT , typename PointNT , typename PointLT >
boost::shared_ptr<std::vector<bool> > pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::exclude_labels_ [protected]
template<typename PointT , typename PointNT , typename PointLT >
PointCloudLPtr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::labels_ [protected]
template<typename PointT , typename PointNT , typename PointLT >
PointCloudNConstPtr pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::normals_ [protected]
template<typename PointT , typename PointNT , typename PointLT >
Eigen::Vector3f pcl::EuclideanClusterComparator< PointT, PointNT, PointLT >::z_axis_ [protected]

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