40 #ifndef PCL_EUCLIDEAN_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_ 41 #define PCL_EUCLIDEAN_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>
64 typedef boost::shared_ptr<EuclideanPlaneCoefficientComparator<PointT, PointNT> >
Ptr;
65 typedef boost::shared_ptr<const EuclideanPlaneCoefficientComparator<PointT, PointNT> >
ConstPtr;
90 float dx =
input_->points[idx1].x -
input_->points[idx2].x;
91 float dy =
input_->points[idx1].y -
input_->points[idx2].y;
92 float dz =
input_->points[idx1].z -
input_->points[idx2].z;
93 float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
101 #endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_ PointCloud::ConstPtr PointCloudConstPtr
EuclideanPlaneCoefficientComparator is a Comparator that operates on plane coefficients,...
virtual ~EuclideanPlaneCoefficientComparator()
Destructor for PlaneCoefficientComparator.
PointCloudN::Ptr PointCloudNPtr
boost::shared_ptr< EuclideanPlaneCoefficientComparator< PointT, PointNT > > Ptr
EuclideanPlaneCoefficientComparator()
Empty constructor for PlaneCoefficientComparator.
Comparator is the base class for comparators that compare two points given some function.
boost::shared_ptr< PointCloud< PointNT > > Ptr
PointCloudN::ConstPtr PointCloudNConstPtr
boost::shared_ptr< const EuclideanPlaneCoefficientComparator< PointT, PointNT > > ConstPtr
boost::shared_ptr< const PointCloud< PointNT > > ConstPtr
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
PointCloud represents the base class in PCL for storing collections of 3D points.
float distance_threshold_
PointCloudNConstPtr normals_
Comparator< PointT >::PointCloudConstPtr PointCloudConstPtr
pcl::PointCloud< PointNT > PointCloudN
virtual bool compare(int idx1, int idx2) const
Compare two neighboring points, by using normal information, and euclidean distance information.
PointCloudConstPtr input_
Comparator< PointT >::PointCloud PointCloud