42 #include <pcl/segmentation/boost.h> 43 #include <pcl/segmentation/plane_coefficient_comparator.h> 53 template<
typename Po
intT,
typename Po
intNT>
64 using Ptr = shared_ptr<RGBPlaneCoefficientComparator<PointT, PointNT> >;
65 using ConstPtr = shared_ptr<const RGBPlaneCoefficientComparator<PointT, PointNT> >;
115 float dx = (*input_)[idx1].x - (*input_)[idx2].x;
116 float dy = (*input_)[idx1].y - (*input_)[idx2].y;
117 float dz = (*input_)[idx1].z - (*input_)[idx2].z;
118 float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
119 int dr = (*input_)[idx1].r - (*input_)[idx2].r;
120 int dg = (*input_)[idx1].g - (*input_)[idx2].g;
121 int db = (*input_)[idx1].b - (*input_)[idx2].b;
123 float color_dist =
static_cast<float> (dr*dr + dg*dg + db*db);
shared_ptr< PointCloud< PointNT > > Ptr
typename PointCloud::ConstPtr PointCloudConstPtr
~RGBPlaneCoefficientComparator()
Destructor for RGBPlaneCoefficientComparator.
typename PointCloudN::Ptr PointCloudNPtr
Comparator is the base class for comparators that compare two points given some function.
float getColorThreshold() const
Get the color threshold between neighboring points, to be considered part of the same plane...
RGBPlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation.
void setColorThreshold(float color_threshold)
Set the tolerance in color space between neighboring points, to be considered part of the same plane...
RGBPlaneCoefficientComparator(shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for RGBPlaneCoefficientComparator.
shared_ptr< const Comparator< PointT > > ConstPtr
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
RGBPlaneCoefficientComparator()
Empty constructor for RGBPlaneCoefficientComparator.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
float distance_threshold_
PointCloudNConstPtr normals_
typename PointCloudN::ConstPtr PointCloudNConstPtr
shared_ptr< const PointCloud< PointNT > > ConstPtr
shared_ptr< Comparator< PointT > > Ptr
A point structure representing Euclidean xyz coordinates, and the RGB color.
bool compare(int idx1, int idx2) const override
Compare two neighboring points, by using normal information, euclidean distance, and color informatio...