Point Cloud Library (PCL) 1.13.1
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plane_coefficient_comparator.h
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39
40#pragma once
41
42#include <pcl/common/angles.h>
43#include <pcl/memory.h> // for pcl::make_shared, pcl::shared_ptr
44#include <pcl/pcl_macros.h>
45#include <pcl/segmentation/comparator.h>
46
47namespace pcl
48{
49 /** \brief PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation.
50 * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
51 *
52 * \author Alex Trevor
53 */
54 template<typename PointT, typename PointNT>
56 {
57 public:
60
64
65 using Ptr = shared_ptr<PlaneCoefficientComparator<PointT, PointNT> >;
66 using ConstPtr = shared_ptr<const PlaneCoefficientComparator<PointT, PointNT> >;
67
69
70 /** \brief Empty constructor for PlaneCoefficientComparator. */
72 : normals_ ()
74 , distance_threshold_ (0.02f)
75 , depth_dependent_ (true)
76 , z_axis_ (Eigen::Vector3f (0.0, 0.0, 1.0) )
77 {
78 }
79
80 /** \brief Constructor for PlaneCoefficientComparator.
81 * \param[in] plane_coeff_d a reference to a vector of d coefficients of plane equations. Must be the same size as the input cloud and input normals. a, b, and c coefficients are in the input normals.
82 */
83 PlaneCoefficientComparator (shared_ptr<std::vector<float> >& plane_coeff_d)
84 : normals_ ()
85 , plane_coeff_d_ (plane_coeff_d)
87 , distance_threshold_ (0.02f)
88 , depth_dependent_ (true)
89 , z_axis_ (Eigen::Vector3f (0.0f, 0.0f, 1.0f) )
90 {
91 }
92
93 /** \brief Destructor for PlaneCoefficientComparator. */
94
95 ~PlaneCoefficientComparator () override = default;
96
97 void
98 setInputCloud (const PointCloudConstPtr& cloud) override
99 {
100 input_ = cloud;
101 }
102
103 /** \brief Provide a pointer to the input normals.
104 * \param[in] normals the input normal cloud
105 */
106 inline void
108 {
109 normals_ = normals;
110 }
111
112 /** \brief Get the input normals. */
115 {
116 return (normals_);
117 }
118
119 /** \brief Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.
120 * \param[in] plane_coeff_d a pointer to the plane coefficients.
121 */
122 void
123 setPlaneCoeffD (shared_ptr<std::vector<float> >& plane_coeff_d)
124 {
125 plane_coeff_d_ = plane_coeff_d;
126 }
127
128 /** \brief Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.
129 * \param[in] plane_coeff_d a pointer to the plane coefficients.
130 */
131 void
132 setPlaneCoeffD (std::vector<float>& plane_coeff_d)
133 {
134 plane_coeff_d_ = pcl::make_shared<std::vector<float> >(plane_coeff_d);
135 }
136
137 /** \brief Get a pointer to the vector of the d-coefficient of the planes' hessian normal form. */
138 const std::vector<float>&
140 {
141 return (*plane_coeff_d_);
142 }
143
144 /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
145 * \param[in] angular_threshold the tolerance in radians
146 */
147 virtual void
148 setAngularThreshold (float angular_threshold)
149 {
150 angular_threshold_ = std::cos (angular_threshold);
151 }
152
153 /** \brief Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
154 inline float
156 {
157 return (std::acos (angular_threshold_) );
158 }
159
160 /** \brief 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.
161 * \param[in] distance_threshold the tolerance in meters (at 1m)
162 * \param[in] depth_dependent whether to scale the threshold based on range from the sensor (default: false)
163 */
164 void
165 setDistanceThreshold (float distance_threshold,
166 bool depth_dependent = false)
167 {
168 distance_threshold_ = distance_threshold;
169 depth_dependent_ = depth_dependent;
170 }
171
172 /** \brief Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. */
173 inline float
175 {
176 return (distance_threshold_);
177 }
178
179 /** \brief Compare points at two indices by their plane equations. True if the angle between the normals is less than the angular threshold,
180 * and the difference between the d component of the normals is less than distance threshold, else false
181 * \param idx1 The first index for the comparison
182 * \param idx2 The second index for the comparison
183 */
184 bool
185 compare (int idx1, int idx2) const override
186 {
187 float threshold = distance_threshold_;
189 {
190 Eigen::Vector3f vec = (*input_)[idx1].getVector3fMap ();
191
192 float z = vec.dot (z_axis_);
193 threshold *= z * z;
194 }
195 return ( (std::fabs ((*plane_coeff_d_)[idx1] - (*plane_coeff_d_)[idx2]) < threshold)
196 && ((*normals_)[idx1].getNormalVector3fMap ().dot ((*normals_)[idx2].getNormalVector3fMap () ) > angular_threshold_ ) );
197 }
198
199 protected:
201 shared_ptr<std::vector<float> > plane_coeff_d_;
205 Eigen::Vector3f z_axis_;
206
207 public:
209 };
210}
Define standard C methods to do angle calculations.
Comparator is the base class for comparators that compare two points given some function.
Definition comparator.h:55
PointCloudConstPtr input_
Definition comparator.h:98
typename PointCloud::ConstPtr PointCloudConstPtr
Definition comparator.h:59
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
void setDistanceThreshold(float distance_threshold, bool depth_dependent=false)
Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...
virtual void setAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points,...
const std::vector< float > & getPlaneCoeffD() const
Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.
float getAngularThreshold() const
Get the angular threshold in radians for difference in normal direction between neighboring points,...
shared_ptr< PlaneCoefficientComparator< PointT, PointNT > > Ptr
shared_ptr< const PlaneCoefficientComparator< PointT, PointNT > > ConstPtr
PointCloudNConstPtr getInputNormals() const
Get the input normals.
shared_ptr< std::vector< float > > plane_coeff_d_
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
typename PointCloudN::ConstPtr PointCloudNConstPtr
float getDistanceThreshold() const
Get the distance threshold in meters (d component of plane equation) between neighboring points,...
typename Comparator< PointT >::PointCloud PointCloud
bool compare(int idx1, int idx2) const override
Compare points at two indices by their plane equations.
PlaneCoefficientComparator(shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for PlaneCoefficientComparator.
typename Comparator< PointT >::PointCloudConstPtr PointCloudConstPtr
PlaneCoefficientComparator()
Empty constructor for PlaneCoefficientComparator.
void setPlaneCoeffD(shared_ptr< std::vector< float > > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
void setPlaneCoeffD(std::vector< float > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
~PlaneCoefficientComparator() override=default
Destructor for PlaneCoefficientComparator.
void setInputCloud(const PointCloudConstPtr &cloud) override
Set the input cloud for the comparator.
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointNT > > Ptr
shared_ptr< const PointCloud< PointNT > > ConstPtr
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Definition angles.hpp:67
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
Definition bfgs.h:10
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates, and the RGB color.