Point Cloud Library (PCL) 1.13.1
Loading...
Searching...
No Matches
edge_aware_plane_comparator.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2012, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of the copyright holder(s) nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 * $Id: extract_clusters.h 5027 2012-03-12 03:10:45Z rusu $
37 *
38 */
39
40#pragma once
41
42#include <pcl/segmentation/plane_coefficient_comparator.h>
43
44namespace pcl
45{
46 /** \brief EdgeAwarePlaneComparator is a Comparator that operates on plane coefficients,
47 * for use in planar segmentation.
48 * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
49 *
50 * \author Stefan Holzer, Alex Trevor
51 */
52 template<typename PointT, typename PointNT>
54 {
55 public:
58
62
63 using Ptr = shared_ptr<EdgeAwarePlaneComparator<PointT, PointNT> >;
64 using ConstPtr = shared_ptr<const EdgeAwarePlaneComparator<PointT, PointNT> >;
65
73
74 /** \brief Empty constructor for PlaneCoefficientComparator. */
81
82 /** \brief Empty constructor for PlaneCoefficientComparator.
83 * \param[in] distance_map the distance map to use
84 */
85 EdgeAwarePlaneComparator (const float *distance_map) :
86 distance_map_ (distance_map),
90 {
91 }
92
93 /** \brief Destructor for PlaneCoefficientComparator. */
94
96 = default;
97
98 /** \brief Set a distance map to use. For an example of a valid distance map see
99 * IntegralImageNormalEstimation::getDistanceMap
100 * \param[in] distance_map the distance map to use
101 */
102 inline void
103 setDistanceMap (const float *distance_map)
104 {
105 distance_map_ = distance_map;
106 }
107
108 /** \brief Return the distance map used. */
109 const float*
111 {
112 return (distance_map_);
113 }
114
115 /** \brief Set the curvature threshold for creating a new segment
116 * \param[in] curvature_threshold a threshold for the curvature
117 */
118 void
119 setCurvatureThreshold (float curvature_threshold)
120 {
121 curvature_threshold_ = curvature_threshold;
122 }
123
124 /** \brief Get the curvature threshold. */
125 inline float
127 {
128 return (curvature_threshold_);
129 }
130
131 /** \brief Set the distance map threshold -- the number of pixel away from a border / nan
132 * \param[in] distance_map_threshold the distance map threshold
133 */
134 void
135 setDistanceMapThreshold (float distance_map_threshold)
136 {
137 distance_map_threshold_ = distance_map_threshold;
138 }
139
140 /** \brief Get the distance map threshold (in pixels). */
141 inline float
143 {
145 }
146
147 /** \brief Set the euclidean distance threshold.
148 * \param[in] euclidean_distance_threshold the euclidean distance threshold in meters
149 */
150 void
151 setEuclideanDistanceThreshold (float euclidean_distance_threshold)
152 {
153 euclidean_distance_threshold_ = euclidean_distance_threshold;
154 }
155
156 /** \brief Get the euclidean distance threshold. */
157 inline float
162
163 protected:
164 /** \brief Compare two neighboring points, by using normal information, curvature, and euclidean distance information.
165 * \param[in] idx1 The index of the first point.
166 * \param[in] idx2 The index of the second point.
167 */
168 bool
169 compare (int idx1, int idx2) const override
170 {
171 // Note: there are two distance thresholds here that make sense to scale with depth.
172 // dist_threshold is on the perpendicular distance to the plane, as in plane comparator
173 // We additionally check euclidean distance to ensure that we don't have neighboring coplanar points
174 // that aren't close in euclidean space (think two tables separated by a meter, viewed from an angle
175 // where the surfaces are adjacent in image space).
176 float dist_threshold = distance_threshold_;
177 float euclidean_dist_threshold = euclidean_distance_threshold_;
179 {
180 Eigen::Vector3f vec = (*input_)[idx1].getVector3fMap ();
181 float z = vec.dot (z_axis_);
182 dist_threshold *= z * z;
183 euclidean_dist_threshold *= z * z;
184 }
185
186 float dx = (*input_)[idx1].x - (*input_)[idx2].x;
187 float dy = (*input_)[idx1].y - (*input_)[idx2].y;
188 float dz = (*input_)[idx1].z - (*input_)[idx2].z;
189 float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
190
191 bool normal_ok = ((*normals_)[idx1].getNormalVector3fMap ().dot ((*normals_)[idx2].getNormalVector3fMap () ) > angular_threshold_ );
192 bool dist_ok = (dist < euclidean_dist_threshold);
193
194 bool curvature_ok = (*normals_)[idx1].curvature < curvature_threshold_;
195 bool plane_d_ok = std::abs ((*plane_coeff_d_)[idx1] - (*plane_coeff_d_)[idx2]) < dist_threshold;
196
198 curvature_ok = false;
199
200 return (dist_ok && normal_ok && curvature_ok && plane_d_ok);
201 }
202
203 protected:
204 const float* distance_map_;
208 };
209}
PointCloudConstPtr input_
Definition comparator.h:98
typename PointCloud::ConstPtr PointCloudConstPtr
Definition comparator.h:59
EdgeAwarePlaneComparator is a Comparator that operates on plane coefficients, for use in planar segme...
float getEuclideanDistanceThreshold() const
Get the euclidean distance threshold.
~EdgeAwarePlaneComparator() override=default
Destructor for PlaneCoefficientComparator.
shared_ptr< const EdgeAwarePlaneComparator< PointT, PointNT > > ConstPtr
bool compare(int idx1, int idx2) const override
Compare two neighboring points, by using normal information, curvature, and euclidean distance inform...
void setDistanceMapThreshold(float distance_map_threshold)
Set the distance map threshold – the number of pixel away from a border / nan.
typename Comparator< PointT >::PointCloudConstPtr PointCloudConstPtr
float getCurvatureThreshold() const
Get the curvature threshold.
void setCurvatureThreshold(float curvature_threshold)
Set the curvature threshold for creating a new segment.
void setDistanceMap(const float *distance_map)
Set a distance map to use.
typename PointCloudN::ConstPtr PointCloudNConstPtr
void setEuclideanDistanceThreshold(float euclidean_distance_threshold)
Set the euclidean distance threshold.
EdgeAwarePlaneComparator()
Empty constructor for PlaneCoefficientComparator.
shared_ptr< EdgeAwarePlaneComparator< PointT, PointNT > > Ptr
EdgeAwarePlaneComparator(const float *distance_map)
Empty constructor for PlaneCoefficientComparator.
const float * getDistanceMap() const
Return the distance map used.
typename Comparator< PointT >::PointCloud PointCloud
float getDistanceMapThreshold() const
Get the distance map threshold (in pixels).
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
shared_ptr< std::vector< float > > plane_coeff_d_
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointNT > > Ptr
shared_ptr< const PointCloud< PointNT > > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.