Open3D (C++ API)  0.17.0+2a11e0e
PointCloudPlanarPatchDetection.cpp File Reference

(2a11e0e (Tue Nov 14 13:19:07 2023 -0800))

#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"



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