Public Types | Public Member Functions | Protected Member Functions | Protected Attributes

pcl::SegmentDifferences< PointT > Class Template Reference
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SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the difference between them for a maximum given distance threshold. More...

#include <pcl/segmentation/segment_differences.h>

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List of all members.

Public Types

typedef pcl::PointCloud< PointT > PointCloud
typedef PointCloud::Ptr PointCloudPtr
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef pcl::KdTree< PointT > KdTree
typedef pcl::KdTree< PointT >::Ptr KdTreePtr
typedef PointIndices::Ptr PointIndicesPtr
typedef PointIndices::ConstPtr PointIndicesConstPtr

Public Member Functions

 SegmentDifferences ()
 Empty constructor.
void setTargetCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the target dataset against which we compare the input cloud given in setInputCloud.
PointCloudConstPtr const getTargetCloud ()
 Get a pointer to the input target point cloud dataset.
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object.
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used.
void setDistanceThreshold (double sqr_threshold)
 Set the maximum distance tolerance (squared) between corresponding points in the two input datasets.
double getDistanceThreshold ()
 Get the squared distance tolerance between corresponding points as a measure in the L2 Euclidean space.
void segment (PointCloud &output)
 Segment differences between two input point clouds.

Protected Member Functions

virtual std::string getClassName () const
 Class getName method.

Protected Attributes

KdTreePtr tree_
 A pointer to the spatial search object.
PointCloudConstPtr target_
 The input target point cloud dataset.
int spatial_locator_
 Parameter for the spatial locator tree.
double distance_threshold_
 The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points.

Detailed Description

template<typename PointT>
class pcl::SegmentDifferences< PointT >

SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the difference between them for a maximum given distance threshold.

Author:
Radu Bogdan Rusu

Definition at line 74 of file segment_differences.h.


Member Typedef Documentation

template<typename PointT >
typedef pcl::KdTree<PointT> pcl::SegmentDifferences< PointT >::KdTree

Definition at line 83 of file segment_differences.h.

template<typename PointT >
typedef pcl::KdTree<PointT>::Ptr pcl::SegmentDifferences< PointT >::KdTreePtr

Definition at line 84 of file segment_differences.h.

template<typename PointT >
typedef pcl::PointCloud<PointT> pcl::SegmentDifferences< PointT >::PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 79 of file segment_differences.h.

template<typename PointT >
typedef PointCloud::ConstPtr pcl::SegmentDifferences< PointT >::PointCloudConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 81 of file segment_differences.h.

template<typename PointT >
typedef PointCloud::Ptr pcl::SegmentDifferences< PointT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 80 of file segment_differences.h.

template<typename PointT >
typedef PointIndices::ConstPtr pcl::SegmentDifferences< PointT >::PointIndicesConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 87 of file segment_differences.h.

template<typename PointT >
typedef PointIndices::Ptr pcl::SegmentDifferences< PointT >::PointIndicesPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 86 of file segment_differences.h.


Constructor & Destructor Documentation

template<typename PointT >
pcl::SegmentDifferences< PointT >::SegmentDifferences (  )  [inline]

Empty constructor.

Definition at line 90 of file segment_differences.h.


Member Function Documentation

template<typename PointT >
virtual std::string pcl::SegmentDifferences< PointT >::getClassName (  )  const [inline, protected, virtual]

Class getName method.

Definition at line 163 of file segment_differences.h.

template<typename PointT >
double pcl::SegmentDifferences< PointT >::getDistanceThreshold (  )  [inline]

Get the squared distance tolerance between corresponding points as a measure in the L2 Euclidean space.

Definition at line 128 of file segment_differences.h.

template<typename PointT >
KdTreePtr pcl::SegmentDifferences< PointT >::getSearchMethod (  )  [inline]

Get a pointer to the search method used.

Definition at line 114 of file segment_differences.h.

template<typename PointT >
PointCloudConstPtr const pcl::SegmentDifferences< PointT >::getTargetCloud (  )  [inline]

Get a pointer to the input target point cloud dataset.

Definition at line 104 of file segment_differences.h.

template<typename PointT >
void pcl::SegmentDifferences< PointT >::segment ( PointCloud output  ) 

Segment differences between two input point clouds.

Parameters:
output the resultant difference between the two point clouds as a PointCloud

Definition at line 97 of file segment_differences.hpp.

template<typename PointT >
void pcl::SegmentDifferences< PointT >::setDistanceThreshold ( double  sqr_threshold  )  [inline]

Set the maximum distance tolerance (squared) between corresponding points in the two input datasets.

Parameters:
sqr_threshold the squared distance tolerance as a measure in L2 Euclidean space

Definition at line 122 of file segment_differences.h.

template<typename PointT >
void pcl::SegmentDifferences< PointT >::setSearchMethod ( const KdTreePtr tree  )  [inline]

Provide a pointer to the search object.

Parameters:
tree a pointer to the spatial search object.

Definition at line 110 of file segment_differences.h.

template<typename PointT >
void pcl::SegmentDifferences< PointT >::setTargetCloud ( const PointCloudConstPtr cloud  )  [inline]

Provide a pointer to the target dataset against which we compare the input cloud given in setInputCloud.

Parameters:
cloud the target PointCloud dataset

Definition at line 100 of file segment_differences.h.


Member Data Documentation

template<typename PointT >
double pcl::SegmentDifferences< PointT >::distance_threshold_ [protected]

The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points.

Definition at line 159 of file segment_differences.h.

template<typename PointT >
int pcl::SegmentDifferences< PointT >::spatial_locator_ [protected]

Parameter for the spatial locator tree.

By convention, the values represent: 0: ANN (Approximate Nearest Neigbor library) kd-tree 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree 2: Organized spatial dataset index

Definition at line 154 of file segment_differences.h.

template<typename PointT >
PointCloudConstPtr pcl::SegmentDifferences< PointT >::target_ [protected]

The input target point cloud dataset.

Definition at line 147 of file segment_differences.h.

template<typename PointT >
KdTreePtr pcl::SegmentDifferences< PointT >::tree_ [protected]

A pointer to the spatial search object.

Definition at line 144 of file segment_differences.h.


The documentation for this class was generated from the following files: