Point Cloud Library (PCL)  1.11.0
euclidean_plane_coefficient_comparator.h
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39 
40 #pragma once
41 
42 #include <pcl/segmentation/boost.h>
43 #include <pcl/segmentation/plane_coefficient_comparator.h>
44 
45 namespace pcl
46 {
47  /** \brief EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients,
48  * for use in planar segmentation.
49  * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
50  *
51  * \author Alex Trevor
52  */
53  template<typename PointT, typename PointNT>
55  {
56  public:
60  using PointCloudNPtr = typename PointCloudN::Ptr;
62 
63  using Ptr = shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> >;
64  using ConstPtr = shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> >;
65 
70 
71  /** \brief Empty constructor for PlaneCoefficientComparator. */
73  {
74  }
75 
76  /** \brief Destructor for PlaneCoefficientComparator. */
77 
79  {
80  }
81 
82  /** \brief Compare two neighboring points, by using normal information, and euclidean distance information.
83  * \param[in] idx1 The index of the first point.
84  * \param[in] idx2 The index of the second point.
85  */
86  bool
87  compare (int idx1, int idx2) const override
88  {
89  float dx = input_->points[idx1].x - input_->points[idx2].x;
90  float dy = input_->points[idx1].y - input_->points[idx2].y;
91  float dz = input_->points[idx1].z - input_->points[idx2].z;
92  float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
93 
94  return ( (dist < distance_threshold_)
95  && (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ ) );
96  }
97  };
98 }
shared_ptr< PointCloud< PointNT > > Ptr
Definition: point_cloud.h:428
EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation.
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:59
bool compare(int idx1, int idx2) const override
Compare two neighboring points, by using normal information, and euclidean distance information...
EuclideanPlaneCoefficientComparator()
Empty constructor for PlaneCoefficientComparator.
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:54
shared_ptr< const Comparator< PointT > > ConstPtr
Definition: comparator.h:62
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
shared_ptr< const PointCloud< PointNT > > ConstPtr
Definition: point_cloud.h:429
shared_ptr< Comparator< PointT > > Ptr
Definition: comparator.h:61
~EuclideanPlaneCoefficientComparator()
Destructor for PlaneCoefficientComparator.
PointCloudConstPtr input_
Definition: comparator.h:100