Point Cloud Library (PCL)  1.9.1
edge_aware_plane_comparator.h
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39 
40 #ifndef PCL_SEGMENTATION_EDGE_AWARE_PLANE_COMPARATOR_H_
41 #define PCL_SEGMENTATION_EDGE_AWARE_PLANE_COMPARATOR_H_
42 
43 #include <pcl/segmentation/boost.h>
44 #include <pcl/segmentation/plane_coefficient_comparator.h>
45 
46 namespace pcl
47 {
48  /** \brief EdgeAwarePlaneComparator is a Comparator that operates on plane coefficients,
49  * for use in planar segmentation.
50  * In conjunction with OrganizedConnectedComponentSegmentation, this allows planes to be segmented from organized data.
51  *
52  * \author Stefan Holzer, Alex Trevor
53  */
54  template<typename PointT, typename PointNT>
56  {
57  public:
60 
62  typedef typename PointCloudN::Ptr PointCloudNPtr;
64 
65  typedef boost::shared_ptr<EdgeAwarePlaneComparator<PointT, PointNT> > Ptr;
66  typedef boost::shared_ptr<const EdgeAwarePlaneComparator<PointT, PointNT> > ConstPtr;
67 
75 
76  /** \brief Empty constructor for PlaneCoefficientComparator. */
79  curvature_threshold_ (0.04f),
81  {
82  }
83 
84  /** \brief Empty constructor for PlaneCoefficientComparator.
85  * \param[in] distance_map the distance map to use
86  */
87  EdgeAwarePlaneComparator (const float *distance_map) :
88  distance_map_ (distance_map),
90  curvature_threshold_ (0.04f),
92  {
93  }
94 
95  /** \brief Destructor for PlaneCoefficientComparator. */
96  virtual
98  {
99  }
100 
101  /** \brief Set a distance map to use. For an example of a valid distance map see
102  * \ref OrganizedIntegralImageNormalEstimation
103  * \param[in] distance_map the distance map to use
104  */
105  inline void
106  setDistanceMap (const float *distance_map)
107  {
108  distance_map_ = distance_map;
109  }
110 
111  /** \brief Return the distance map used. */
112  const float*
113  getDistanceMap () const
114  {
115  return (distance_map_);
116  }
117 
118  /** \brief Set the curvature threshold for creating a new segment
119  * \param[in] curvature_threshold a threshold for the curvature
120  */
121  void
122  setCurvatureThreshold (float curvature_threshold)
123  {
124  curvature_threshold_ = curvature_threshold;
125  }
126 
127  /** \brief Get the curvature threshold. */
128  inline float
130  {
131  return (curvature_threshold_);
132  }
133 
134  /** \brief Set the distance map threshold -- the number of pixel away from a border / nan
135  * \param[in] distance_map_threshold the distance map threshold
136  */
137  void
138  setDistanceMapThreshold (float distance_map_threshold)
139  {
140  distance_map_threshold_ = distance_map_threshold;
141  }
142 
143  /** \brief Get the distance map threshold (in pixels). */
144  inline float
146  {
147  return (distance_map_threshold_);
148  }
149 
150  /** \brief Set the euclidean distance threshold.
151  * \param[in] euclidean_distance_threshold the euclidean distance threshold in meters
152  */
153  void
154  setEuclideanDistanceThreshold (float euclidean_distance_threshold)
155  {
156  euclidean_distance_threshold_ = euclidean_distance_threshold;
157  }
158 
159  /** \brief Get the euclidean distance threshold. */
160  inline float
162  {
164  }
165 
166  protected:
167  /** \brief Compare two neighboring points, by using normal information, curvature, and euclidean distance information.
168  * \param[in] idx1 The index of the first point.
169  * \param[in] idx2 The index of the second point.
170  */
171  bool
172  compare (int idx1, int idx2) const
173  {
174  // Note: there are two distance thresholds here that make sense to scale with depth.
175  // dist_threshold is on the perpendicular distance to the plane, as in plane comparator
176  // We additionally check euclidean distance to ensure that we don't have neighboring coplanar points
177  // that aren't close in euclidean space (think two tables separated by a meter, viewed from an angle
178  // where the surfaces are adjacent in image space).
179  float dist_threshold = distance_threshold_;
180  float euclidean_dist_threshold = euclidean_distance_threshold_;
181  if (depth_dependent_)
182  {
183  Eigen::Vector3f vec = input_->points[idx1].getVector3fMap ();
184  float z = vec.dot (z_axis_);
185  dist_threshold *= z * z;
186  euclidean_dist_threshold *= z * z;
187  }
188 
189  float dx = input_->points[idx1].x - input_->points[idx2].x;
190  float dy = input_->points[idx1].y - input_->points[idx2].y;
191  float dz = input_->points[idx1].z - input_->points[idx2].z;
192  float dist = std::sqrt (dx*dx + dy*dy + dz*dz);
193 
194  bool normal_ok = (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ );
195  bool dist_ok = (dist < euclidean_dist_threshold);
196 
197  bool curvature_ok = normals_->points[idx1].curvature < curvature_threshold_;
198  bool plane_d_ok = fabs ((*plane_coeff_d_)[idx1] - (*plane_coeff_d_)[idx2]) < dist_threshold;
199 
201  curvature_ok = false;
202 
203  return (dist_ok && normal_ok && curvature_ok && plane_d_ok);
204  }
205 
206  protected:
207  const float* distance_map_;
211  };
212 }
213 
214 #endif // PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_
pcl::EdgeAwarePlaneComparator::EdgeAwarePlaneComparator
EdgeAwarePlaneComparator(const float *distance_map)
Empty constructor for PlaneCoefficientComparator.
Definition: edge_aware_plane_comparator.h:87
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::Comparator::PointCloudConstPtr
PointCloud::ConstPtr PointCloudConstPtr
Definition: comparator.h:58
pcl::PointCloud< PointNT >::Ptr
boost::shared_ptr< PointCloud< PointNT > > Ptr
Definition: point_cloud.h:428
pcl::EdgeAwarePlaneComparator::setDistanceMap
void setDistanceMap(const float *distance_map)
Set a distance map to use.
Definition: edge_aware_plane_comparator.h:106
pcl::EdgeAwarePlaneComparator::PointCloud
Comparator< PointT >::PointCloud PointCloud
Definition: edge_aware_plane_comparator.h:58
pcl::EdgeAwarePlaneComparator::curvature_threshold_
float curvature_threshold_
Definition: edge_aware_plane_comparator.h:209
pcl::EdgeAwarePlaneComparator::EdgeAwarePlaneComparator
EdgeAwarePlaneComparator()
Empty constructor for PlaneCoefficientComparator.
Definition: edge_aware_plane_comparator.h:77
pcl::EdgeAwarePlaneComparator::getDistanceMap
const float * getDistanceMap() const
Return the distance map used.
Definition: edge_aware_plane_comparator.h:113
pcl::EdgeAwarePlaneComparator::getCurvatureThreshold
float getCurvatureThreshold() const
Get the curvature threshold.
Definition: edge_aware_plane_comparator.h:129
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:53
pcl::EdgeAwarePlaneComparator::setDistanceMapThreshold
void setDistanceMapThreshold(float distance_map_threshold)
Set the distance map threshold – the number of pixel away from a border / nan.
Definition: edge_aware_plane_comparator.h:138
pcl::EdgeAwarePlaneComparator::Ptr
boost::shared_ptr< EdgeAwarePlaneComparator< PointT, PointNT > > Ptr
Definition: edge_aware_plane_comparator.h:65
pcl::PlaneCoefficientComparator::distance_threshold_
float distance_threshold_
Definition: plane_coefficient_comparator.h:206
pcl::EdgeAwarePlaneComparator::distance_map_threshold_
int distance_map_threshold_
Definition: edge_aware_plane_comparator.h:208
pcl::PlaneCoefficientComparator::normals_
PointCloudNConstPtr normals_
Definition: plane_coefficient_comparator.h:203
pcl::PlaneCoefficientComparator::depth_dependent_
bool depth_dependent_
Definition: plane_coefficient_comparator.h:207
pcl::EdgeAwarePlaneComparator::~EdgeAwarePlaneComparator
virtual ~EdgeAwarePlaneComparator()
Destructor for PlaneCoefficientComparator.
Definition: edge_aware_plane_comparator.h:97
pcl::EdgeAwarePlaneComparator::compare
bool compare(int idx1, int idx2) const
Compare two neighboring points, by using normal information, curvature, and euclidean distance inform...
Definition: edge_aware_plane_comparator.h:172
pcl::EdgeAwarePlaneComparator::PointCloudConstPtr
Comparator< PointT >::PointCloudConstPtr PointCloudConstPtr
Definition: edge_aware_plane_comparator.h:59
pcl::EdgeAwarePlaneComparator
EdgeAwarePlaneComparator is a Comparator that operates on plane coefficients, for use in planar segme...
Definition: edge_aware_plane_comparator.h:55
pcl::EdgeAwarePlaneComparator::distance_map_
const float * distance_map_
Definition: edge_aware_plane_comparator.h:207
pcl::EdgeAwarePlaneComparator::PointCloudN
pcl::PointCloud< PointNT > PointCloudN
Definition: edge_aware_plane_comparator.h:61
pcl::EdgeAwarePlaneComparator::PointCloudNConstPtr
PointCloudN::ConstPtr PointCloudNConstPtr
Definition: edge_aware_plane_comparator.h:63
pcl::EdgeAwarePlaneComparator::setEuclideanDistanceThreshold
void setEuclideanDistanceThreshold(float euclidean_distance_threshold)
Set the euclidean distance threshold.
Definition: edge_aware_plane_comparator.h:154
pcl::PlaneCoefficientComparator::z_axis_
Eigen::Vector3f z_axis_
Definition: plane_coefficient_comparator.h:208
pcl::EdgeAwarePlaneComparator::PointCloudNPtr
PointCloudN::Ptr PointCloudNPtr
Definition: edge_aware_plane_comparator.h:62
pcl::PointCloud< PointNT >::ConstPtr
boost::shared_ptr< const PointCloud< PointNT > > ConstPtr
Definition: point_cloud.h:429
pcl::EdgeAwarePlaneComparator::setCurvatureThreshold
void setCurvatureThreshold(float curvature_threshold)
Set the curvature threshold for creating a new segment.
Definition: edge_aware_plane_comparator.h:122
pcl::EdgeAwarePlaneComparator::getDistanceMapThreshold
float getDistanceMapThreshold() const
Get the distance map threshold (in pixels).
Definition: edge_aware_plane_comparator.h:145
pcl::PlaneCoefficientComparator::angular_threshold_
float angular_threshold_
Definition: plane_coefficient_comparator.h:205
pcl::EdgeAwarePlaneComparator::getEuclideanDistanceThreshold
float getEuclideanDistanceThreshold() const
Get the euclidean distance threshold.
Definition: edge_aware_plane_comparator.h:161
pcl::EdgeAwarePlaneComparator::euclidean_distance_threshold_
float euclidean_distance_threshold_
Definition: edge_aware_plane_comparator.h:210
pcl::Comparator::input_
PointCloudConstPtr input_
Definition: comparator.h:99
pcl::EdgeAwarePlaneComparator::ConstPtr
boost::shared_ptr< const EdgeAwarePlaneComparator< PointT, PointNT > > ConstPtr
Definition: edge_aware_plane_comparator.h:66
pcl::PlaneCoefficientComparator::plane_coeff_d_
boost::shared_ptr< std::vector< float > > plane_coeff_d_
Definition: plane_coefficient_comparator.h:204
pcl::PlaneCoefficientComparator
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
Definition: plane_coefficient_comparator.h:55