Point Cloud Library (PCL)  1.7.1
segment_differences.h
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37 
38 #ifndef PCL_SEGMENT_DIFFERENCES_H_
39 #define PCL_SEGMENT_DIFFERENCES_H_
40 
41 #include <pcl/pcl_base.h>
42 #include <pcl/search/pcl_search.h>
43 
44 namespace pcl
45 {
46  ////////////////////////////////////////////////////////////////////////////////////////////
47  /** \brief Obtain the difference between two aligned point clouds as another point cloud, given a distance threshold.
48  * \param src the input point cloud source
49  * \param tgt the input point cloud target we need to obtain the difference against
50  * \param threshold the distance threshold (tolerance) for point correspondences. (e.g., check if f a point p1 from
51  * src has a correspondence > threshold than a point p2 from tgt)
52  * \param tree the spatial locator (e.g., kd-tree) used for nearest neighbors searching built over \a tgt
53  * \param output the resultant output point cloud difference
54  * \ingroup segmentation
55  */
56  template <typename PointT>
58  const pcl::PointCloud<PointT> &src, const pcl::PointCloud<PointT> &tgt,
59  double threshold, const boost::shared_ptr<pcl::search::Search<PointT> > &tree,
60  pcl::PointCloud<PointT> &output);
61 
62  ////////////////////////////////////////////////////////////////////////////////////////////
63  ////////////////////////////////////////////////////////////////////////////////////////////
64  ////////////////////////////////////////////////////////////////////////////////////////////
65  /** \brief @b SegmentDifferences obtains the difference between two spatially
66  * aligned point clouds and returns the difference between them for a maximum
67  * given distance threshold.
68  * \author Radu Bogdan Rusu
69  * \ingroup segmentation
70  */
71  template <typename PointT>
72  class SegmentDifferences: public PCLBase<PointT>
73  {
75 
76  public:
78  typedef typename PointCloud::Ptr PointCloudPtr;
80 
83 
86 
87  /** \brief Empty constructor. */
90  {};
91 
92  /** \brief Provide a pointer to the target dataset against which we
93  * compare the input cloud given in setInputCloud
94  *
95  * \param cloud the target PointCloud dataset
96  */
97  inline void
98  setTargetCloud (const PointCloudConstPtr &cloud) { target_ = cloud; }
99 
100  /** \brief Get a pointer to the input target point cloud dataset. */
101  inline PointCloudConstPtr const
102  getTargetCloud () { return (target_); }
103 
104  /** \brief Provide a pointer to the search object.
105  * \param tree a pointer to the spatial search object.
106  */
107  inline void
108  setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
109 
110  /** \brief Get a pointer to the search method used. */
111  inline KdTreePtr
112  getSearchMethod () { return (tree_); }
113 
114  /** \brief Set the maximum distance tolerance (squared) between corresponding
115  * points in the two input datasets.
116  *
117  * \param sqr_threshold the squared distance tolerance as a measure in L2 Euclidean space
118  */
119  inline void
120  setDistanceThreshold (double sqr_threshold) { distance_threshold_ = sqr_threshold; }
121 
122  /** \brief Get the squared distance tolerance between corresponding points as a
123  * measure in the L2 Euclidean space.
124  */
125  inline double
127 
128  /** \brief Segment differences between two input point clouds.
129  * \param output the resultant difference between the two point clouds as a PointCloud
130  */
131  void
132  segment (PointCloud &output);
133 
134  protected:
135  // Members derived from the base class
136  using BasePCLBase::input_;
137  using BasePCLBase::indices_;
140 
141  /** \brief A pointer to the spatial search object. */
143 
144  /** \brief The input target point cloud dataset. */
146 
147  /** \brief The distance tolerance (squared) as a measure in the L2
148  * Euclidean space between corresponding points.
149  */
151 
152  /** \brief Class getName method. */
153  virtual std::string
154  getClassName () const { return ("SegmentDifferences"); }
155  };
156 }
157 
158 #ifdef PCL_NO_PRECOMPILE
159 #include <pcl/segmentation/impl/segment_differences.hpp>
160 #endif
161 
162 #endif //#ifndef PCL_SEGMENT_DIFFERENCES_H_