Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::OrganizedEdgeFromRGB< PointT, PointLT > Class Template Reference

#include <pcl/features/organized_edge_detection.h>

+ Inheritance diagram for pcl::OrganizedEdgeFromRGB< PointT, PointLT >:

Public Member Functions

 OrganizedEdgeFromRGB ()
 Constructor for OrganizedEdgeFromRGB. More...
 
virtual ~OrganizedEdgeFromRGB ()
 Destructor for OrganizedEdgeFromRGB. More...
 
void compute (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
 Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) and assign point indices for each edge label. More...
 
void setRGBCannyLowThreshold (const float th)
 Set the low threshold value for RGB Canny edge detection. More...
 
float getRGBCannyLowThreshold () const
 Get the low threshold value for RGB Canny edge detection. More...
 
void setRGBCannyHighThreshold (const float th)
 Set the high threshold value for RGB Canny edge detection. More...
 
float getRGBCannyHighThreshold () const
 Get the high threshold value for RGB Canny edge detection. More...
 
- Public Member Functions inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
 OrganizedEdgeBase ()
 Constructor for OrganizedEdgeBase. More...
 
virtual ~OrganizedEdgeBase ()
 Destructor for OrganizedEdgeBase. More...
 
void compute (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
 Perform the 3D edge detection (edges from depth discontinuities) More...
 
void setDepthDisconThreshold (const float th)
 Set the tolerance in meters for difference in depth values between neighboring points. More...
 
float getDepthDisconThreshold () const
 Get the tolerance in meters for difference in depth values between neighboring points. More...
 
void setMaxSearchNeighbors (const int max_dist)
 Set the max search distance for deciding occluding and occluded edges. More...
 
int getMaxSearchNeighbors () const
 Get the max search distance for deciding occluding and occluded edges. More...
 
void setEdgeType (int edge_types)
 Set the detecting edge types. More...
 
int getEdgeType () const
 Get the detecting edge types. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void extractEdges (pcl::PointCloud< PointLT > &labels) const
 Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) More...
 
- Protected Member Functions inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
void extractEdges (pcl::PointCloud< PointLT > &labels) const
 Perform the 3D edge detection (edges from depth discontinuities) and assign point indices for each edge label. More...
 
void assignLabelIndices (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
 Assign point indices for each edge label. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

float th_rgb_canny_low_
 The low threshold value for RGB Canny edge detection (default: 40.0) More...
 
float th_rgb_canny_high_
 The high threshold value for RGB Canny edge detection (default: 100.0) More...
 
- Protected Attributes inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
float th_depth_discon_
 The tolerance in meters for difference in depth values between neighboring points (The value is set for 1 meter and is adapted with respect to depth value linearly. More...
 
int max_search_neighbors_
 The max search distance for deciding occluding and occluded edges. More...
 
int detecting_edge_types_
 The bit encoded value that represents edge types to detect. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Additional Inherited Members

- Public Types inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
enum  {
  EDGELABEL_NAN_BOUNDARY =1, EDGELABEL_OCCLUDING =2, EDGELABEL_OCCLUDED =4, EDGELABEL_HIGH_CURVATURE =8,
  EDGELABEL_RGB_CANNY =16
}
 
typedef boost::shared_ptr< OrganizedEdgeBase< PointT, PointLT > > Ptr
 
typedef boost::shared_ptr< const OrganizedEdgeBase< PointT, PointLT > > ConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 
- Static Public Attributes inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
static const int num_of_edgetype_ = 5
 

Detailed Description

template<typename PointT, typename PointLT>
class pcl::OrganizedEdgeFromRGB< PointT, PointLT >

Definition at line 182 of file organized_edge_detection.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointLT >
pcl::OrganizedEdgeFromRGB< PointT, PointLT >::OrganizedEdgeFromRGB ( )
inline
template<typename PointT , typename PointLT >
virtual pcl::OrganizedEdgeFromRGB< PointT, PointLT >::~OrganizedEdgeFromRGB ( )
inlinevirtual

Member Function Documentation

template<typename PointT , typename PointLT >
void pcl::OrganizedEdgeFromRGB< PointT, PointLT >::compute ( pcl::PointCloud< PointLT > &  labels,
std::vector< pcl::PointIndices > &  label_indices 
) const

Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) and assign point indices for each edge label.

Parameters
[out]labelsa PointCloud of edge labels
[out]label_indicesa vector of PointIndices corresponding to each edge label

Definition at line 228 of file organized_edge_detection.hpp.

References pcl::PointCloud< PointT >::height, pcl::Label::label, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

template<typename PointT , typename PointLT >
void pcl::OrganizedEdgeFromRGB< PointT, PointLT >::extractEdges ( pcl::PointCloud< PointLT > &  labels) const
protected
template<typename PointT , typename PointLT >
float pcl::OrganizedEdgeFromRGB< PointT, PointLT >::getRGBCannyHighThreshold ( ) const
inline

Get the high threshold value for RGB Canny edge detection.

Definition at line 248 of file organized_edge_detection.h.

References pcl::OrganizedEdgeBase< PointT, PointLT >::extractEdges().

template<typename PointT , typename PointLT >
float pcl::OrganizedEdgeFromRGB< PointT, PointLT >::getRGBCannyLowThreshold ( ) const
inline

Get the low threshold value for RGB Canny edge detection.

Definition at line 234 of file organized_edge_detection.h.

template<typename PointT , typename PointLT >
void pcl::OrganizedEdgeFromRGB< PointT, PointLT >::setRGBCannyHighThreshold ( const float  th)
inline

Set the high threshold value for RGB Canny edge detection.

Definition at line 241 of file organized_edge_detection.h.

template<typename PointT , typename PointLT >
void pcl::OrganizedEdgeFromRGB< PointT, PointLT >::setRGBCannyLowThreshold ( const float  th)
inline

Set the low threshold value for RGB Canny edge detection.

Definition at line 227 of file organized_edge_detection.h.

Member Data Documentation

template<typename PointT , typename PointLT >
float pcl::OrganizedEdgeFromRGB< PointT, PointLT >::th_rgb_canny_high_
protected

The high threshold value for RGB Canny edge detection (default: 100.0)

Definition at line 264 of file organized_edge_detection.h.

template<typename PointT , typename PointLT >
float pcl::OrganizedEdgeFromRGB< PointT, PointLT >::th_rgb_canny_low_
protected

The low threshold value for RGB Canny edge detection (default: 40.0)

Definition at line 261 of file organized_edge_detection.h.


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