Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::SegmentDifferences Class 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>

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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 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

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

Member Typedef Documentation

Definition at line 81 of file segment_differences.h.

Definition at line 82 of file segment_differences.h.

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.


Constructor & Destructor Documentation

pcl::SegmentDifferences::SegmentDifferences ( ) [inline]

Empty constructor.

Definition at line 88 of file segment_differences.h.


Member Function Documentation

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.

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

Parameters:
outputthe 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.

Parameters:
sqr_thresholdthe 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.

Parameters:
indicesa 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.

Parameters:
indicesa 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.

Note:
you shouldn't call this method on unorganized point clouds!
Parameters:
row_startthe offset on rows
col_startthe offset on columns
nb_rowsthe number of rows to be considered row_start included
nb_colsthe 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.

Parameters:
cloudthe 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.

Parameters:
treea 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.

Parameters:
cloudthe target PointCloud dataset

Definition at line 98 of file segment_differences.h.


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