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< PointT >	PointCloud
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< PointT >	PointCloud
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.
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.
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
virtual std::string	getClassName () const
	Class getName method.
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
KdTreePtr	tree_
	A pointer to the spatial search object.
PointCloudConstPtr	target_
	The input target point cloud dataset.
double	distance_threshold_
	The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points.
Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

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.

template<typename PointT >

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

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.

template<typename PointT >

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

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

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

Definition at line 95 of file segment_differences.hpp.

References pcl::getPointCloudDifference(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::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_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_.

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 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

cloud the 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:

/tmp/buildd/pcl-1.7.2/segmentation/include/pcl/segmentation/segment_differences.h
/tmp/buildd/pcl-1.7.2/segmentation/include/pcl/segmentation/impl/segment_differences.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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