Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::SegmentDifferences< PointT > Class Template Reference

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>

+ Inheritance diagram for pcl::SegmentDifferences< PointT >:

Public Types

typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef pcl::search::Search
< PointT
KdTree
 
typedef pcl::search::Search
< PointT >::Ptr 
KdTreePtr
 
typedef PointIndices::Ptr PointIndicesPtr
 
typedef PointIndices::ConstPtr PointIndicesConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

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

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

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

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 72 of file segment_differences.h.

Member Typedef Documentation

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

Definition at line 81 of file segment_differences.h.

template<typename PointT >
typedef pcl::search::Search<PointT>::Ptr pcl::SegmentDifferences< PointT >::KdTreePtr

Definition at line 82 of file segment_differences.h.

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

Definition at line 77 of file segment_differences.h.

Definition at line 79 of file segment_differences.h.

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

Definition at line 78 of file segment_differences.h.

Definition at line 85 of file segment_differences.h.

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

Definition at line 84 of file segment_differences.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 88 of file segment_differences.h.

Member Function Documentation

template<typename PointT >
virtual std::string pcl::SegmentDifferences< PointT >::getClassName ( ) const
inlineprotectedvirtual

Class getName method.

Definition at line 154 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 126 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::distance_threshold_.

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

Get a pointer to the search method used.

Definition at line 112 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::tree_.

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

Get a pointer to the input target point cloud dataset.

Definition at line 102 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::target_.

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

Segment differences between two input point clouds.

Parameters
outputthe resultant difference between the two point clouds as a PointCloud

Definition at line 95 of file segment_differences.hpp.

References pcl::getPointCloudDifference(), pcl::PointCloud< T >::header, pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.

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_thresholdthe squared distance tolerance as a measure in L2 Euclidean space

Definition at line 120 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::distance_threshold_.

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

Provide a pointer to the search object.

Parameters
treea pointer to the spatial search object.

Definition at line 108 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::tree_.

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
cloudthe target PointCloud dataset

Definition at line 98 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::target_.

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 150 of file segment_differences.h.

Referenced by pcl::SegmentDifferences< PointT >::getDistanceThreshold(), and pcl::SegmentDifferences< PointT >::setDistanceThreshold().

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

The input target point cloud dataset.

Definition at line 145 of file segment_differences.h.

Referenced by pcl::SegmentDifferences< PointT >::getTargetCloud(), and pcl::SegmentDifferences< PointT >::setTargetCloud().

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

A pointer to the spatial search object.

Definition at line 142 of file segment_differences.h.

Referenced by pcl::SegmentDifferences< PointT >::getSearchMethod(), and pcl::SegmentDifferences< PointT >::setSearchMethod().


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