Point Cloud Library (PCL)  1.7.2
euclidean_plane_coefficient_comparator.h
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39 
40 #ifndef PCL_EUCLIDEAN_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
41 #define PCL_EUCLIDEAN_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
42 
43 #include <pcl/segmentation/boost.h>
44 #include <pcl/segmentation/plane_coefficient_comparator.h>
45 
46 namespace pcl
47 {
48  /** \brief EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients,
49  * 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:
61  typedef typename PointCloudN::Ptr PointCloudNPtr;
63 
64  typedef boost::shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> > Ptr;
65  typedef boost::shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> > ConstPtr;
66 
71 
72  /** \brief Empty constructor for PlaneCoefficientComparator. */
74  {
75  }
76 
77  /** \brief Destructor for PlaneCoefficientComparator. */
78  virtual
80  {
81  }
82 
83  /** \brief Compare two neighboring points, by using normal information, and euclidean distance information.
84  * \param[in] idx1 The index of the first point.
85  * \param[in] idx2 The index of the second point.
86  */
87  virtual bool
88  compare (int idx1, int idx2) const
89  {
90  float dx = input_->points[idx1].x - input_->points[idx2].x;
91  float dy = input_->points[idx1].y - input_->points[idx2].y;
92  float dz = input_->points[idx1].z - input_->points[idx2].z;
93  float dist = sqrtf (dx*dx + dy*dy + dz*dz);
94 
95  return ( (dist < distance_threshold_)
96  && (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ ) );
97  }
98  };
99 }
100 
101 #endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:58
virtual bool compare(int idx1, int idx2) const
Compare two neighboring points, by using normal information, and euclidean distance information...
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation.
virtual ~EuclideanPlaneCoefficientComparator()
Destructor for PlaneCoefficientComparator.
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
boost::shared_ptr< EuclideanPlaneCoefficientComparator< PointT, PointNT > > Ptr
EuclideanPlaneCoefficientComparator()
Empty constructor for PlaneCoefficientComparator.
Comparator is the base class for comparators that compare two points given some function.
Definition: comparator.h:53
boost::shared_ptr< const EuclideanPlaneCoefficientComparator< PointT, PointNT > > ConstPtr
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
Comparator< PointT >::PointCloudConstPtr PointCloudConstPtr
PointCloudConstPtr input_
Definition: comparator.h:99