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 >:

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Collaboration diagram for pcl::SegmentDifferences< PointT >:

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List of all members.

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 IndicesConstPtr &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.

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 77 of file segment_differences.h.

template<typename PointT >

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 79 of file segment_differences.h.

template<typename PointT >

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 78 of file segment_differences.h.

template<typename PointT >

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 85 of file segment_differences.h.

template<typename PointT >

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

Reimplemented from pcl::PCLBase< PointT >.

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 >

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.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

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.

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.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

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 99 of file segment_differences.hpp.

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.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::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.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

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 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.h.

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.

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.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/segmentation/include/pcl/segmentation/segment_differences.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/segmentation/include/pcl/segmentation/impl/segment_differences.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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