40 #ifndef PCL_SEGMENTATION_PLANAR_REFINEMENT_COMPARATOR_H_
41 #define PCL_SEGMENTATION_PLANAR_REFINEMENT_COMPARATOR_H_
43 #include <pcl/segmentation/boost.h>
44 #include <pcl/segmentation/plane_coefficient_comparator.h>
54 template<
typename Po
intT,
typename Po
intNT,
typename Po
intLT>
69 typedef boost::shared_ptr<PlaneRefinementComparator<PointT, PointNT, PointLT> >
Ptr;
70 typedef boost::shared_ptr<const PlaneRefinementComparator<PointT, PointNT, PointLT> >
ConstPtr;
93 boost::shared_ptr<std::vector<bool> >& refine_labels)
123 models_ = boost::make_shared<std::vector<pcl::ModelCoefficients> >(models);
141 refine_labels_ = boost::make_shared<std::vector<bool> >(refine_labels);
159 label_to_model_ = boost::make_shared<std::vector<int> >(label_to_model);
163 inline boost::shared_ptr<std::vector<pcl::ModelCoefficients> >
185 int current_label =
labels_->points[idx1].label;
186 int next_label =
labels_->points[idx2].label;
194 double ptp_dist = fabs (model_coeff.
values[0] * pt.x +
195 model_coeff.
values[1] * pt.y +
196 model_coeff.
values[2] * pt.z +
204 Eigen::Vector3f vec =
input_->points[idx1].getVector3fMap ();
210 return (ptp_dist < threshold);
214 boost::shared_ptr<std::vector<pcl::ModelCoefficients> >
models_;
223 #endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_