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>
Public Types |
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| using | PointCloud = pcl::PointCloud< PointT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | KdTree = pcl::search::Search< PointT > |
| using | KdTreePtr = typename KdTree::Ptr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
 Public Types inherited from pcl::PCLBase< PointT > |
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| using | PointCloud = pcl::PointCloud< PointT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions |
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| SegmentDifferences () | |
| Empty constructor. More... |
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| void | setTargetCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the target dataset against which we compare the input cloud given in setInputCloud. More... |
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| const PointCloudConstPtr | getTargetCloud () |
| Get a pointer to the input target point cloud dataset. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... |
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| KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. More... |
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| void | setDistanceThreshold (double sqr_threshold) |
| Set the maximum distance tolerance (squared) between corresponding points in the two input datasets. More... |
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| double | getDistanceThreshold () |
| Get the squared distance tolerance between corresponding points as a measure in the L2 Euclidean space. More... |
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| void | segment (PointCloud &output) |
| Segment differences between two input point clouds. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| virtual std::string | getClassName () const |
| Class getName method. More... |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| PointCloudConstPtr | target_ |
| The input target point cloud dataset. More... |
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| double | distance_threshold_ |
| The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points. More... |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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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.
Definition at line 72 of file segment_differences.h.
Member Typedef Documentation
KdTree
| using pcl::SegmentDifferences< PointT >::KdTree = pcl::search::Search<PointT> |
Definition at line 81 of file segment_differences.h.
KdTreePtr
| using pcl::SegmentDifferences< PointT >::KdTreePtr = typename KdTree::Ptr |
Definition at line 82 of file segment_differences.h.
PointCloud
| using pcl::SegmentDifferences< PointT >::PointCloud = pcl::PointCloud<PointT> |
Definition at line 77 of file segment_differences.h.
PointCloudConstPtr
| using pcl::SegmentDifferences< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 79 of file segment_differences.h.
PointCloudPtr
| using pcl::SegmentDifferences< PointT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 78 of file segment_differences.h.
PointIndicesConstPtr
| using pcl::SegmentDifferences< PointT >::PointIndicesConstPtr = PointIndices::ConstPtr |
Definition at line 85 of file segment_differences.h.
PointIndicesPtr
| using pcl::SegmentDifferences< PointT >::PointIndicesPtr = PointIndices::Ptr |
Definition at line 84 of file segment_differences.h.
Constructor & Destructor Documentation
SegmentDifferences()
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inline |
Empty constructor.
Definition at line 88 of file segment_differences.h.
Member Function Documentation
deinitCompute()
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protected |
This method should get called after finishing the actual computation.
Definition at line 174 of file pcl_base.hpp.
getClassName()
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inlineprotectedvirtual |
Class getName method.
Definition at line 154 of file segment_differences.h.
getDistanceThreshold()
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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_.
getSearchMethod()
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inline |
Get a pointer to the search method used.
Definition at line 112 of file segment_differences.h.
References pcl::SegmentDifferences< PointT >::tree_.
getTargetCloud()
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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_.
initCompute()
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protected |
This method should get called before starting the actual computation.
Internally, initCompute() does the following:
- checks if an input dataset is given, and returns false otherwise
- checks whether a set of input indices has been given. Returns true if yes.
- if no input indices have been given, a fake set is created, which will be used until:
- either a new set is given via setIndices(), or
- a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices
Definition at line 138 of file pcl_base.hpp.
segment()
| 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 91 of file segment_differences.hpp.
References pcl::PointCloud< PointT >::clear(), pcl::getPointCloudDifference(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, and pcl::PointCloud< PointT >::width.
setDistanceThreshold()
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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 120 of file segment_differences.h.
References pcl::SegmentDifferences< PointT >::distance_threshold_.
setSearchMethod()
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inline |
Provide a pointer to the search object.
- Parameters
-
tree a pointer to the spatial search object.
Definition at line 108 of file segment_differences.h.
References pcl::SegmentDifferences< PointT >::tree_.
setTargetCloud()
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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 98 of file segment_differences.h.
References pcl::SegmentDifferences< PointT >::target_.
Member Data Documentation
distance_threshold_
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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().
indices_
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protected |
A pointer to the vector of point indices to use.
Definition at line 150 of file pcl_base.h.
input_
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protected |
The input point cloud dataset.
Definition at line 147 of file pcl_base.h.
target_
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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().
tree_
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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:
- pcl/segmentation/segment_differences.h
- pcl/segmentation/impl/segment_differences.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_segment_differences.html
