216 lines
8.2 KiB
C++
216 lines
8.2 KiB
C++
/*
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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: extract_clusters.h 5027 2012-03-12 03:10:45Z rusu $
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*
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*/
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#pragma once
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#include <pcl/memory.h> // for pcl::make_shared
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#include <pcl/segmentation/plane_coefficient_comparator.h>
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namespace pcl
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{
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/** \brief PlaneRefinementComparator is a Comparator that operates on plane coefficients,
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* 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, Suat Gedikli
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*/
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template<typename PointT, typename PointNT, typename PointLT>
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class PlaneRefinementComparator: public PlaneCoefficientComparator<PointT, PointNT>
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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 PointCloudL = pcl::PointCloud<PointLT>;
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using PointCloudLPtr = typename PointCloudL::Ptr;
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using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
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using Ptr = shared_ptr<PlaneRefinementComparator<PointT, PointNT, PointLT> >;
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using ConstPtr = shared_ptr<const PlaneRefinementComparator<PointT, PointNT, PointLT> >;
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using pcl::PlaneCoefficientComparator<PointT, PointNT>::input_;
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using pcl::PlaneCoefficientComparator<PointT, PointNT>::normals_;
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using pcl::PlaneCoefficientComparator<PointT, PointNT>::distance_threshold_;
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using pcl::PlaneCoefficientComparator<PointT, PointNT>::plane_coeff_d_;
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/** \brief Empty constructor for PlaneCoefficientComparator. */
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PlaneRefinementComparator ()
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: labels_ ()
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, depth_dependent_ (false)
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{
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}
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/** \brief Empty constructor for PlaneCoefficientComparator.
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* \param[in] models
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* \param[in] refine_labels
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*/
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PlaneRefinementComparator (shared_ptr<std::vector<pcl::ModelCoefficients> >& models,
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shared_ptr<std::vector<bool> >& refine_labels)
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: models_ (models)
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, labels_ ()
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, refine_labels_ (refine_labels)
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, depth_dependent_ (false)
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{
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}
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/** \brief Destructor for PlaneCoefficientComparator. */
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~PlaneRefinementComparator ()
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{
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}
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/** \brief Set the vector of model coefficients to which we will compare.
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* \param[in] models a vector of model coefficients produced by the initial segmentation step.
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*/
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void
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setModelCoefficients (shared_ptr<std::vector<pcl::ModelCoefficients> >& models)
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{
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models_ = models;
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}
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/** \brief Set the vector of model coefficients to which we will compare.
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* \param[in] models a vector of model coefficients produced by the initial segmentation step.
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*/
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void
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setModelCoefficients (std::vector<pcl::ModelCoefficients>& models)
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{
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models_ = pcl::make_shared<std::vector<pcl::ModelCoefficients> >(models);
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}
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/** \brief Set which labels should be refined. This is a vector of bools 0-max_label, true if the label should be refined.
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* \param[in] refine_labels A vector of bools 0-max_label, true if the label should be refined.
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*/
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void
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setRefineLabels (shared_ptr<std::vector<bool> >& refine_labels)
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{
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refine_labels_ = refine_labels;
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}
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/** \brief Set which labels should be refined. This is a vector of bools 0-max_label, true if the label should be refined.
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* \param[in] refine_labels A vector of bools 0-max_label, true if the label should be refined.
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*/
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void
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setRefineLabels (std::vector<bool>& refine_labels)
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{
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refine_labels_ = pcl::make_shared<std::vector<bool> >(refine_labels);
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}
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/** \brief A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.
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* \param[in] label_to_model A vector of size max_label, with the index of each corresponding model in models
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*/
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inline void
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setLabelToModel (shared_ptr<std::vector<int> >& label_to_model)
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{
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label_to_model_ = label_to_model;
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}
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/** \brief A mapping from label to index in the vector of models, allowing the model coefficients of a label to be accessed.
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* \param[in] label_to_model A vector of size max_label, with the index of each corresponding model in models
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*/
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inline void
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setLabelToModel (std::vector<int>& label_to_model)
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{
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label_to_model_ = pcl::make_shared<std::vector<int> >(label_to_model);
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}
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/** \brief Get the vector of model coefficients to which we will compare. */
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inline shared_ptr<std::vector<pcl::ModelCoefficients> >
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getModelCoefficients () const
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{
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return (models_);
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}
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/** \brief ...
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* \param[in] labels
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*/
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inline void
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setLabels (PointCloudLPtr& labels)
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{
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labels_ = labels;
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}
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/** \brief Compare two neighboring points
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* \param[in] idx1 The index of the first point.
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* \param[in] idx2 The index of the second point.
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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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int current_label = (*labels_)[idx1].label;
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int next_label = (*labels_)[idx2].label;
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if (!((*refine_labels_)[current_label] && !(*refine_labels_)[next_label]))
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return (false);
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const pcl::ModelCoefficients& model_coeff = (*models_)[(*label_to_model_)[current_label]];
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PointT pt = (*input_)[idx2];
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double ptp_dist = std::fabs (model_coeff.values[0] * pt.x +
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model_coeff.values[1] * pt.y +
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model_coeff.values[2] * pt.z +
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model_coeff.values[3]);
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// depth dependent
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float threshold = distance_threshold_;
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if (depth_dependent_)
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{
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//Eigen::Vector4f origin = input_->sensor_origin_;
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Eigen::Vector3f vec = (*input_)[idx1].getVector3fMap ();// - origin.head<3> ();
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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 (ptp_dist < threshold);
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}
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protected:
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shared_ptr<std::vector<pcl::ModelCoefficients> > models_;
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PointCloudLPtr labels_;
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shared_ptr<std::vector<bool> > refine_labels_;
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shared_ptr<std::vector<int> > label_to_model_;
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bool depth_dependent_;
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using PlaneCoefficientComparator<PointT, PointNT>::z_axis_;
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};
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}
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