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15 #ifndef __PBMAP_PLANE_H
16 #define __PBMAP_PLANE_H
18 #include <mrpt/config.h>
26 #include <pcl/point_types.h>
27 #include <pcl/common/pca.h>
31 #define USE_COMPLETNESS_HEURISTICS 1
32 #define USE_INFERRED_STRUCTURE 1
57 bFromStructure(false),
59 polygonContourPtr(new pcl::PointCloud<pcl::PointXYZRGBA>),
60 planePointCloudPtr(new pcl::PointCloud<pcl::PointXYZRGBA>)
99 bool isSamePlane(
Plane &plane,
const float &cosAngleThreshold,
const float &distThreshold,
const float &proxThreshold);
101 bool isSamePlane(Eigen::Matrix4f &Rt,
Plane &plane_,
const float &cosAngleThreshold,
const float &distThreshold,
const float &proxThreshold);
183 std::vector<float>
r;
184 std::vector<float>
g;
185 std::vector<float>
b;
192 std::vector<float>
c1;
193 std::vector<float>
c2;
194 std::vector<float>
c3;
void mergePlane2(Plane &plane)
void calcConvexHullandParams(pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &pointCloud, std::vector< size_t > &indices=DEFAULT_VECTOR)
std::vector< float > hist_H
void calcConvexHull(pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &pointCloud, std::vector< size_t > &indices=DEFAULT_VECTOR)
! Calculate the plane's convex hull with the monotone chain algorithm.
unsigned nFramesAreaIsStable
void mergePlane(Plane &plane)
std::map< unsigned, unsigned > neighborPlanes
std::vector< std::vector< float > > prog_hist_H
static std::vector< size_t > DEFAULT_VECTOR
bool hasSimilarDominantColor(Plane &plane, const float colorThreshold)
void computeMassCenterAndArea()
Compute the patch's convex-hull area and mass center.
void forcePtsLayOnPlane()
std::vector< float > intensity
bool isPlaneNearby(Plane &plane, const float distThreshold)
Eigen::Vector3f v3colorNrgb
! Radiometric description
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::vector< int32_t > inliers
! Convex Hull
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_LINKAGE(class_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
std::vector< double > prog_area
Eigen::Vector3f v3center
! Geometric description
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr outerPolygonPtr
A class used to store a planar feature (Plane for short).
std::vector< Eigen::Vector3f > prog_Nrgb
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr polygonContourPtr
bool isSamePlane(Plane &plane, const float &cosAngleThreshold, const float &distThreshold, const float &proxThreshold)
std::vector< Eigen::Vector3f > prog_C1C2C3
void calcElongationAndPpalDir()
bool isSamePlane(Eigen::Matrix4f &Rt, Plane &plane_, const float &cosAngleThreshold, const float &distThreshold, const float &proxThreshold)
void transform(Eigen::Matrix4f &Rt)
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr planePointCloudPtr
std::vector< float > prog_intensity
std::string label_context
std::vector< double > prog_elongation
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
unsigned id
! Parameters to allow the plane-based representation of the map by a graph
Eigen::Vector3f v3PpalDir
Eigen::Matrix4f information
#define DEFINE_SERIALIZABLE_POST_CUSTOM_LINKAGE(class_name, _LINKAGE_)
Eigen::Vector3f v3colorC1C2C3
Eigen::Vector3f v3colorNrgbDev
std::set< unsigned > nearbyPlanes
float compute2DPolygonalArea()
Compute the area of a 2D planar polygon patch - using a given normal.
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