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include
pcl
segmentation
euclidean_plane_coefficient_comparator.h
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/*
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* Point Cloud Library (PCL) - www.pointclouds.org
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#ifndef PCL_EUCLIDEAN_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
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#define PCL_EUCLIDEAN_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
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#include <pcl/segmentation/boost.h>
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#include <pcl/segmentation/plane_coefficient_comparator.h>
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namespace
pcl
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{
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/** \brief EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients,
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* for use in planar segmentation.
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* In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
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*
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* \author Alex Trevor
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*/
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template
<
typename
Po
int
T,
typename
Po
int
NT>
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class
EuclideanPlaneCoefficientComparator
:
public
PlaneCoefficientComparator
<PointT, PointNT>
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{
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public
:
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typedef
typename
Comparator<PointT>::PointCloud
PointCloud
;
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typedef
typename
Comparator<PointT>::PointCloudConstPtr
PointCloudConstPtr
;
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typedef
typename
pcl::PointCloud<PointNT>
PointCloudN
;
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typedef
typename
PointCloudN::Ptr
PointCloudNPtr
;
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typedef
typename
PointCloudN::ConstPtr
PointCloudNConstPtr
;
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typedef
boost::shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> >
Ptr
;
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typedef
boost::shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> >
ConstPtr
;
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using
pcl::Comparator<PointT>::input_
;
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using
pcl::PlaneCoefficientComparator<PointT, PointNT>::normals_
;
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using
pcl::PlaneCoefficientComparator<PointT, PointNT>::angular_threshold_
;
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using
pcl::PlaneCoefficientComparator<PointT, PointNT>::distance_threshold_
;
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/** \brief Empty constructor for PlaneCoefficientComparator. */
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EuclideanPlaneCoefficientComparator
()
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{
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}
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/** \brief Destructor for PlaneCoefficientComparator. */
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virtual
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~EuclideanPlaneCoefficientComparator
()
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{
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}
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/** \brief Compare two neighboring points, by using normal information, and euclidean distance information.
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* \param[in] idx1 The index of the first point.
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* \param[in] idx2 The index of the second point.
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*/
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virtual
bool
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compare
(
int
idx1,
int
idx2)
const
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{
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float
dx =
input_
->points[idx1].x -
input_
->points[idx2].x;
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float
dy =
input_
->points[idx1].y -
input_
->points[idx2].y;
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float
dz =
input_
->points[idx1].z -
input_
->points[idx2].z;
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float
dist = sqrtf (dx*dx + dy*dy + dz*dz);
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return
( (dist <
distance_threshold_
)
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&& (
normals_
->points[idx1].getNormalVector3fMap ().dot (
normals_
->points[idx2].getNormalVector3fMap () ) >
angular_threshold_
) );
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}
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};
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}
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#endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_