PointCloudPlanarPatchDetection.cpp File Reference

(5c982c7 (Thu Apr 18 12:15:13 2024 -0700))

#include <Eigen/Dense>
#include <algorithm>
#include <cstdint>
#include <numeric>
#include <queue>
#include <unordered_map>
#include <unordered_set>
#include "libqhullcpp/PointCoordinates.h"
#include "libqhullcpp/Qhull.h"
#include "libqhullcpp/QhullVertex.h"
#include "open3d/geometry/BoundingVolume.h"
#include "open3d/geometry/KDTreeFlann.h"
#include "open3d/geometry/KDTreeSearchParam.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/utility/Logging.h"

Namespaces
	open3d
	open3d::geometry

Variable Documentation

area

double area

B

Eigen::Matrix3d B

bottom_left

Eigen::Vector3d bottom_left

center_

Eigen::Vector3d center_ = Eigen::Vector3d::Zero()

child_index_

size_t child_index_

children_

std::array<std::shared_ptr<BoundaryVolumeHierarchy>, NUM_CHILDREN> children_

dist_from_origin_

double dist_from_origin_ = 0

index_

size_t index_

A given index of this plane for merging purposes.

indices_

std::vector<size_t> indices_

Associated indices of points in the underlying point cloud.

leaf_

bool leaf_

level_

size_t level_

M

Eigen::Matrix3Xd M

max_point_dist_

double max_point_dist_

Maximum tail of the spread of point distances from plane.

min_normal_diff_

double min_normal_diff_

Minimum tail of the spread in normal similarity scores.

min_points_

size_t min_points_

min_size_

double min_size_

normal_

Eigen::Vector3d normal_ = Eigen::Vector3d::Zero()

num_new_points_

size_t num_new_points_ = 0

Number of new points from grow and/or merge stage.

num_updates_

size_t num_updates_ = 0

Number of times this plane has needed to re-estimate plane parameters.

patch_

std::shared_ptr<PlanarPatch> patch_

Patch object which is a bounded version of the plane.

point_cloud_

const PointCloud* point_cloud_

Underlying point cloud object containing all points.

size_

std::vector<size_t> size_

stable_

bool stable_ = false

Indicates that the plane cannot grow anymore.

top_right

Eigen::Vector3d top_right