213 lines
8.0 KiB
C
213 lines
8.0 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/common/angles.h>
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#include <pcl/memory.h> // for pcl::make_shared, pcl::shared_ptr
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#include <pcl/pcl_macros.h>
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#include <pcl/segmentation/comparator.h>
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namespace pcl
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{
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/** \brief PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar segmentation.
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* In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
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*
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* \author Alex Trevor
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*/
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template<typename PointT, typename PointNT>
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class PlaneCoefficientComparator: public Comparator<PointT>
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{
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public:
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using PointCloud = typename Comparator<PointT>::PointCloud;
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using PointCloudConstPtr = typename Comparator<PointT>::PointCloudConstPtr;
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using PointCloudN = pcl::PointCloud<PointNT>;
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using PointCloudNPtr = typename PointCloudN::Ptr;
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using PointCloudNConstPtr = typename PointCloudN::ConstPtr;
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using Ptr = shared_ptr<PlaneCoefficientComparator<PointT, PointNT> >;
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using ConstPtr = shared_ptr<const PlaneCoefficientComparator<PointT, PointNT> >;
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using pcl::Comparator<PointT>::input_;
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/** \brief Empty constructor for PlaneCoefficientComparator. */
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PlaneCoefficientComparator ()
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: normals_ ()
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, angular_threshold_ (pcl::deg2rad (2.0f))
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, distance_threshold_ (0.02f)
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, depth_dependent_ (true)
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, z_axis_ (Eigen::Vector3f (0.0, 0.0, 1.0) )
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{
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}
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/** \brief Constructor for PlaneCoefficientComparator.
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* \param[in] plane_coeff_d a reference to a vector of d coefficients of plane equations. Must be the same size as the input cloud and input normals. a, b, and c coefficients are in the input normals.
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*/
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PlaneCoefficientComparator (shared_ptr<std::vector<float> >& plane_coeff_d)
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: normals_ ()
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, plane_coeff_d_ (plane_coeff_d)
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, angular_threshold_ (pcl::deg2rad (2.0f))
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, distance_threshold_ (0.02f)
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, depth_dependent_ (true)
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, z_axis_ (Eigen::Vector3f (0.0f, 0.0f, 1.0f) )
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{
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}
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/** \brief Destructor for PlaneCoefficientComparator. */
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~PlaneCoefficientComparator ()
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{
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}
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void
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setInputCloud (const PointCloudConstPtr& cloud) override
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{
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input_ = cloud;
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}
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/** \brief Provide a pointer to the input normals.
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* \param[in] normals the input normal cloud
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*/
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inline void
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setInputNormals (const PointCloudNConstPtr &normals)
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{
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normals_ = normals;
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}
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/** \brief Get the input normals. */
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inline PointCloudNConstPtr
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getInputNormals () const
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{
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return (normals_);
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}
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/** \brief Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.
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* \param[in] plane_coeff_d a pointer to the plane coefficients.
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*/
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void
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setPlaneCoeffD (shared_ptr<std::vector<float> >& plane_coeff_d)
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{
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plane_coeff_d_ = plane_coeff_d;
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}
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/** \brief Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form. a, b, and c are provided by the normal cloud.
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* \param[in] plane_coeff_d a pointer to the plane coefficients.
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*/
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void
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setPlaneCoeffD (std::vector<float>& plane_coeff_d)
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{
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plane_coeff_d_ = pcl::make_shared<std::vector<float> >(plane_coeff_d);
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}
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/** \brief Get a pointer to the vector of the d-coefficient of the planes' hessian normal form. */
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const std::vector<float>&
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getPlaneCoeffD () const
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{
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return (*plane_coeff_d_);
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}
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/** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
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* \param[in] angular_threshold the tolerance in radians
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*/
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virtual void
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setAngularThreshold (float angular_threshold)
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{
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angular_threshold_ = std::cos (angular_threshold);
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}
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/** \brief Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
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inline float
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getAngularThreshold () const
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{
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return (std::acos (angular_threshold_) );
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}
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/** \brief Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.
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* \param[in] distance_threshold the tolerance in meters (at 1m)
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* \param[in] depth_dependent whether to scale the threshold based on range from the sensor (default: false)
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*/
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void
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setDistanceThreshold (float distance_threshold,
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bool depth_dependent = false)
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{
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distance_threshold_ = distance_threshold;
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depth_dependent_ = depth_dependent;
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}
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/** \brief Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. */
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inline float
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getDistanceThreshold () const
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{
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return (distance_threshold_);
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}
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/** \brief Compare points at two indices by their plane equations. True if the angle between the normals is less than the angular threshold,
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* and the difference between the d component of the normals is less than distance threshold, else false
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* \param idx1 The first index for the comparison
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* \param idx2 The second index for the comparison
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*/
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bool
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compare (int idx1, int idx2) const override
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{
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float threshold = distance_threshold_;
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if (depth_dependent_)
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{
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Eigen::Vector3f vec = (*input_)[idx1].getVector3fMap ();
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float z = vec.dot (z_axis_);
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threshold *= z * z;
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}
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return ( (std::fabs ((*plane_coeff_d_)[idx1] - (*plane_coeff_d_)[idx2]) < threshold)
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&& ((*normals_)[idx1].getNormalVector3fMap ().dot ((*normals_)[idx2].getNormalVector3fMap () ) > angular_threshold_ ) );
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}
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protected:
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PointCloudNConstPtr normals_;
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shared_ptr<std::vector<float> > plane_coeff_d_;
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float angular_threshold_;
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float distance_threshold_;
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bool depth_dependent_;
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Eigen::Vector3f z_axis_;
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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