Point Cloud Library (PCL)
1.11.1
|
42 #include <pcl/segmentation/boost.h>
43 #include <pcl/segmentation/plane_coefficient_comparator.h>
53 template<
typename Po
intT,
typename Po
intNT>
63 using Ptr = shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> >;
64 using ConstPtr = shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> >;
87 compare (
int idx1,
int idx2)
const override
89 float dx = (*input_)[idx1].x - (*input_)[idx2].x;
90 float dy = (*input_)[idx1].y - (*input_)[idx2].y;
91 float dz = (*input_)[idx1].z - (*input_)[idx2].z;
92 float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
~EuclideanPlaneCoefficientComparator()
Destructor for PlaneCoefficientComparator.
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< const Comparator< PointT > > ConstPtr
float distance_threshold_
EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients,...
PointCloudNConstPtr normals_
EuclideanPlaneCoefficientComparator()
Empty constructor for PlaneCoefficientComparator.
Comparator is the base class for comparators that compare two points given some function.
bool compare(int idx1, int idx2) const override
Compare two neighboring points, by using normal information, and euclidean distance information.
typename PointCloud::ConstPtr PointCloudConstPtr
shared_ptr< PointCloud< PointNT > > Ptr
typename PointCloudN::Ptr PointCloudNPtr
shared_ptr< const PointCloud< PointNT > > ConstPtr
typename PointCloudN::ConstPtr PointCloudNConstPtr
shared_ptr< Comparator< PointT > > Ptr
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...