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