Point Cloud Library (PCL)
1.3.1
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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 | |
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 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. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. | |
void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
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. | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. |
SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the difference between them for a maximum given distance threshold.
typedef pcl::search::Search<PointT> pcl::SegmentDifferences::KdTree |
Definition at line 81 of file segment_differences.h.
typedef pcl::search::Search<PointT>::Ptr pcl::SegmentDifferences::KdTreePtr |
Definition at line 82 of file segment_differences.h.
typedef pcl::PointCloud<PointT> pcl::SegmentDifferences::PointCloud |
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 77 of file segment_differences.h.
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 79 of file segment_differences.h.
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 78 of file segment_differences.h.
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 85 of file segment_differences.h.
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 84 of file segment_differences.h.
pcl::SegmentDifferences::SegmentDifferences | ( | ) | [inline] |
Empty constructor.
Definition at line 88 of file segment_differences.h.
double pcl::SegmentDifferences::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.
IndicesPtr const pcl::PCLBase::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 171 of file pcl_base.h.
PointCloudConstPtr const pcl::PCLBase::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 99 of file pcl_base.h.
KdTreePtr pcl::SegmentDifferences::getSearchMethod | ( | ) | [inline] |
Get a pointer to the search method used.
Definition at line 112 of file segment_differences.h.
PointCloudConstPtr const pcl::SegmentDifferences::getTargetCloud | ( | ) | [inline] |
Get a pointer to the input target point cloud dataset.
Definition at line 102 of file segment_differences.h.
const PointT& pcl::PCLBase::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
pos | position in indices_ vector |
Definition at line 178 of file pcl_base.h.
void pcl::SegmentDifferences::segment | ( | PointCloud & | output | ) |
Segment differences between two input point clouds.
output | the resultant difference between the two point clouds as a PointCloud |
Definition at line 97 of file segment_differences.hpp.
void pcl::SegmentDifferences::setDistanceThreshold | ( | double | sqr_threshold | ) | [inline] |
Set the maximum distance tolerance (squared) between corresponding points in the two input datasets.
sqr_threshold | the squared distance tolerance as a measure in L2 Euclidean space |
Definition at line 120 of file segment_differences.h.
void pcl::PCLBase::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 105 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 116 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | size_t | row_start, |
size_t | col_start, | ||
size_t | nb_rows, | ||
size_t | nb_cols | ||
) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
row_start | the offset on rows |
col_start | the offset on columns |
nb_rows | the number of rows to be considered row_start included |
nb_cols | the number of columns to be considered col_start included |
Definition at line 132 of file pcl_base.h.
virtual void pcl::PCLBase::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 95 of file pcl_base.h.
void pcl::SegmentDifferences::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline] |
Provide a pointer to the search object.
tree | a pointer to the spatial search object. |
Definition at line 108 of file segment_differences.h.
void pcl::SegmentDifferences::setTargetCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Provide a pointer to the target dataset against which we compare the input cloud given in setInputCloud.
cloud | the target PointCloud dataset |
Definition at line 98 of file segment_differences.h.