Point Cloud Library (PCL) 1.14.0
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ground_plane_comparator.h
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39
40#pragma once
41
42#include <pcl/memory.h>
43#include <pcl/pcl_macros.h>
44#include <pcl/common/angles.h>
45#include <pcl/segmentation/comparator.h>
46
47
48namespace pcl
49{
50 /** \brief GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving.
51 * In conjunction with OrganizedConnectedComponentSegmentation, this allows smooth groundplanes / road surfaces to be segmented from point clouds.
52 *
53 * \author Alex Trevor
54 */
55 template<typename PointT, typename PointNT>
56 class GroundPlaneComparator: public Comparator<PointT>
57 {
58 public:
61
65
66 using Ptr = shared_ptr<GroundPlaneComparator<PointT, PointNT> >;
67 using ConstPtr = shared_ptr<const GroundPlaneComparator<PointT, PointNT> >;
68
70
71 /** \brief Empty constructor for GroundPlaneComparator. */
73 : normals_ ()
74 , angular_threshold_ (std::cos (pcl::deg2rad (2.0f)))
75 , road_angular_threshold_ ( std::cos(pcl::deg2rad (10.0f)))
76 , distance_threshold_ (0.1f)
77 , depth_dependent_ (true)
78 , z_axis_ (Eigen::Vector3f (0.0, 0.0, 1.0) )
79 , desired_road_axis_ (Eigen::Vector3f(0.0, -1.0, 0.0))
80 {
81 }
82
83 /** \brief Constructor for GroundPlaneComparator.
84 * \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.
85 */
86 GroundPlaneComparator (shared_ptr<std::vector<float> >& plane_coeff_d)
87 : normals_ ()
88 , plane_coeff_d_ (plane_coeff_d)
89 , angular_threshold_ (std::cos (pcl::deg2rad (3.0f)))
90 , distance_threshold_ (0.1f)
91 , depth_dependent_ (true)
92 , z_axis_ (Eigen::Vector3f (0.0f, 0.0f, 1.0f))
93 , road_angular_threshold_ ( std::cos(pcl::deg2rad (40.0f)))
94 , desired_road_axis_ (Eigen::Vector3f(0.0, -1.0, 0.0))
95 {
96 }
97
98 /** \brief Destructor for GroundPlaneComparator. */
99
101 = default;
102 /** \brief Provide the input cloud.
103 * \param[in] cloud the input point cloud.
104 */
105 void
106 setInputCloud (const PointCloudConstPtr& cloud) override
107 {
108 input_ = cloud;
109 }
110
111 /** \brief Provide a pointer to the input normals.
112 * \param[in] normals the input normal cloud.
113 */
114 inline void
116 {
117 normals_ = normals;
118 }
119
120 /** \brief Get the input normals. */
123 {
124 return (normals_);
125 }
126
127 /** \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.
128 * \param[in] plane_coeff_d a pointer to the plane coefficients.
129 */
130 void
131 setPlaneCoeffD (shared_ptr<std::vector<float> >& plane_coeff_d)
132 {
133 plane_coeff_d_ = plane_coeff_d;
134 }
135
136 /** \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.
137 * \param[in] plane_coeff_d a pointer to the plane coefficients.
138 */
139 void
140 setPlaneCoeffD (std::vector<float>& plane_coeff_d)
141 {
142 plane_coeff_d_ = pcl::make_shared<std::vector<float> >(plane_coeff_d);
143 }
144
145 /** \brief Get a pointer to the vector of the d-coefficient of the planes' hessian normal form. */
146 const std::vector<float>&
148 {
149 return (*plane_coeff_d_);
150 }
151
152 /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
153 * \param[in] angular_threshold the tolerance in radians
154 */
155 virtual void
156 setAngularThreshold (float angular_threshold)
157 {
158 angular_threshold_ = std::cos (angular_threshold);
159 }
160
161 /** \brief Set the tolerance in radians for difference in normal direction between a point and the expected ground normal.
162 * \param[in] angular_threshold the
163 */
164 virtual void
165 setGroundAngularThreshold (float angular_threshold)
166 {
167 road_angular_threshold_ = std::cos (angular_threshold);
168 }
169
170 /** \brief Set the expected ground plane normal with respect to the sensor. Pixels labeled as ground must be within ground_angular_threshold radians of this normal to be labeled as ground.
171 * \param[in] normal The normal direction of the expected ground plane.
172 */
173 void
174 setExpectedGroundNormal (Eigen::Vector3f normal)
175 {
176 desired_road_axis_ = normal;
177 }
178
179
180 /** \brief Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
181 inline float
183 {
184 return (std::acos (angular_threshold_) );
185 }
186
187 /** \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.
188 * \param[in] distance_threshold the tolerance in meters (at 1m)
189 * \param[in] depth_dependent whether to scale the threshold based on range from the sensor (default: false)
190 */
191 void
192 setDistanceThreshold (float distance_threshold,
193 bool depth_dependent = false)
194 {
195 distance_threshold_ = distance_threshold;
196 depth_dependent_ = depth_dependent;
197 }
198
199 /** \brief Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. */
200 inline float
202 {
203 return distance_threshold_;
204 }
205
206 /** \brief Compare points at two indices by their plane equations. True if the angle between the normals is less than the angular threshold,
207 * and the difference between the d component of the normals is less than distance threshold, else false
208 * \param idx1 The first index for the comparison
209 * \param idx2 The second index for the comparison
210 */
211 bool
212 compare (int idx1, int idx2) const override
213 {
214 // Normal must be similar to neighbor
215 // Normal must be similar to expected normal
216 // TODO check logic in this class: which member variables are needed?
217 // float threshold = distance_threshold_;
218 // if (depth_dependent_)
219 // {
220 // Eigen::Vector3f vec = (*input_)[idx1].getVector3fMap ();
221
222 // float z = vec.dot (z_axis_);
223 // threshold *= z * z;
224 // }
225
226 return ( ((*normals_)[idx1].getNormalVector3fMap ().dot (desired_road_axis_) > road_angular_threshold_) &&
227 ((*normals_)[idx1].getNormalVector3fMap ().dot ((*normals_)[idx2].getNormalVector3fMap () ) > angular_threshold_ ));
228
229 // Euclidean proximity of neighbors does not seem to be required -- pixel adjacency handles this well enough
230 //return ( ((*normals_)[idx1].getNormalVector3fMap ().dot (desired_road_axis_) > road_angular_threshold_) &&
231 // ((*normals_)[idx1].getNormalVector3fMap ().dot ((*normals_)[idx2].getNormalVector3fMap () ) > angular_threshold_ ) &&
232 // (pcl::euclideanDistance ((*input_)[idx1], (*input_)[idx2]) < distance_threshold_ ));
233 }
234
235 protected:
237 shared_ptr<std::vector<float> > plane_coeff_d_;
242 Eigen::Vector3f z_axis_;
243 Eigen::Vector3f desired_road_axis_;
244
245 public:
247 };
248}
Define standard C methods to do angle calculations.
Comparator is the base class for comparators that compare two points given some function.
Definition comparator.h:55
PointCloudConstPtr input_
Definition comparator.h:98
typename PointCloud::ConstPtr PointCloudConstPtr
Definition comparator.h:59
GroundPlaneComparator is a Comparator for detecting smooth surfaces suitable for driving.
void setExpectedGroundNormal(Eigen::Vector3f normal)
Set the expected ground plane normal with respect to the sensor.
GroundPlaneComparator(shared_ptr< std::vector< float > > &plane_coeff_d)
Constructor for GroundPlaneComparator.
typename PointCloudN::Ptr PointCloudNPtr
typename Comparator< PointT >::PointCloud PointCloud
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
typename Comparator< PointT >::PointCloudConstPtr PointCloudConstPtr
void setDistanceThreshold(float distance_threshold, bool depth_dependent=false)
Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...
PointCloudNConstPtr getInputNormals() const
Get the input normals.
float getDistanceThreshold() const
Get the distance threshold in meters (d component of plane equation) between neighboring points,...
typename PointCloudN::ConstPtr PointCloudNConstPtr
bool compare(int idx1, int idx2) const override
Compare points at two indices by their plane equations.
void setInputCloud(const PointCloudConstPtr &cloud) override
Provide the input cloud.
void setPlaneCoeffD(std::vector< float > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
shared_ptr< GroundPlaneComparator< PointT, PointNT > > Ptr
virtual void setGroundAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between a point and the expected grou...
GroundPlaneComparator()
Empty constructor for GroundPlaneComparator.
float getAngularThreshold() const
Get the angular threshold in radians for difference in normal direction between neighboring points,...
~GroundPlaneComparator() override=default
Destructor for GroundPlaneComparator.
shared_ptr< const GroundPlaneComparator< PointT, PointNT > > ConstPtr
shared_ptr< std::vector< float > > plane_coeff_d_
void setPlaneCoeffD(shared_ptr< std::vector< float > > &plane_coeff_d)
Provide a pointer to a vector of the d-coefficient of the planes' hessian normal form.
virtual void setAngularThreshold(float angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points,...
const std::vector< float > & getPlaneCoeffD() const
Get a pointer to the vector of the d-coefficient of the planes' hessian normal form.
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointNT > > Ptr
shared_ptr< const PointCloud< PointNT > > ConstPtr
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Definition angles.hpp:67
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
Definition bfgs.h:10
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates, and the RGB color.