40 #ifndef PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_ 41 #define PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_ 44 #include <pcl/segmentation/comparator.h> 45 #include <boost/make_shared.hpp> 54 template<
typename Po
intT,
typename Po
intNT>
65 typedef boost::shared_ptr<GroundPlaneComparator<PointT, PointNT> >
Ptr;
66 typedef boost::shared_ptr<const GroundPlaneComparator<PointT, PointNT> >
ConstPtr;
122 inline PointCloudNConstPtr
143 plane_coeff_d_ = boost::make_shared<std::vector<float> >(plane_coeff_d);
147 const std::vector<float>&
194 bool depth_dependent =
false)
220 Eigen::Vector3f vec =
input_->points[idx1].getVector3fMap ();
246 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
250 #endif // PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_ boost::shared_ptr< std::vector< float > > plane_coeff_d_
PointCloud::ConstPtr PointCloudConstPtr
float deg2rad(float alpha)
Convert an angle from degrees to radians.
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
virtual void setAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points...
GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving.
float getAngularThreshold() const
Get the angular threshold in radians for difference in normal direction between neighboring points...
PointCloudN::Ptr PointCloudNPtr
GroundPlaneComparator(boost::shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for GroundPlaneComparator.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide the input cloud.
PointCloudNConstPtr normals_
PointCloudN::ConstPtr PointCloudNConstPtr
Comparator is the base class for comparators that compare two points given some function.
boost::shared_ptr< PointCloud< PointNT > > Ptr
virtual bool compare(int idx1, int idx2) const
Compare points at two indices by their plane equations.
boost::shared_ptr< const GroundPlaneComparator< PointT, PointNT > > ConstPtr
void setPlaneCoeffD(std::vector< float > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
void setDistanceThreshold(float distance_threshold, bool depth_dependent=false)
Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...
float road_angular_threshold_
boost::shared_ptr< const PointCloud< PointNT > > ConstPtr
void setPlaneCoeffD(boost::shared_ptr< std::vector< float > > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
float distance_threshold_
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setExpectedGroundNormal(Eigen::Vector3f normal)
Set the expected ground plane normal with respect to the sensor.
pcl::PointCloud< PointNT > PointCloudN
GroundPlaneComparator()
Empty constructor for GroundPlaneComparator.
virtual void setGroundAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between a point and the expected grou...
PointCloudNConstPtr getInputNormals() const
Get the input normals.
PointCloudConstPtr input_
boost::shared_ptr< GroundPlaneComparator< PointT, PointNT > > Ptr
Define standard C methods to do angle calculations.
float getDistanceThreshold() const
Get the distance threshold in meters (d component of plane equation) between neighboring points...
Comparator< PointT >::PointCloud PointCloud
virtual ~GroundPlaneComparator()
Destructor for GroundPlaneComparator.
Comparator< PointT >::PointCloudConstPtr PointCloudConstPtr
const std::vector< float > & getPlaneCoeffD() const
Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.
Eigen::Vector3f desired_road_axis_