38 #ifndef PCL_FEATURES_ORGANIZED_EDGE_DETECTION_H_ 39 #define PCL_FEATURES_ORGANIZED_EDGE_DETECTION_H_ 41 #include <pcl/pcl_base.h> 42 #include <pcl/PointIndices.h> 57 template <
typename Po
intT,
typename Po
intLT>
69 typedef boost::shared_ptr<OrganizedEdgeBase<PointT, PointLT> >
Ptr;
70 typedef boost::shared_ptr<const OrganizedEdgeBase<PointT, PointLT> >
ConstPtr;
182 template <
typename Po
intT,
typename Po
intLT>
207 , th_rgb_canny_low_ (40.0)
208 , th_rgb_canny_high_ (100.0)
230 th_rgb_canny_low_ = th;
237 return (th_rgb_canny_low_);
244 th_rgb_canny_high_ = th;
251 return (th_rgb_canny_high_);
268 template <
typename Po
intT,
typename Po
intNT,
typename Po
intLT>
298 , th_hc_canny_low_ (0.4f)
299 , th_hc_canny_high_ (1.1f)
327 inline PointCloudNConstPtr
337 th_hc_canny_low_ = th;
344 return (th_hc_canny_low_);
351 th_hc_canny_high_ = th;
358 return (th_hc_canny_high_);
378 template <
typename Po
intT,
typename Po
intNT,
typename Po
intLT>
428 #ifdef PCL_NO_PRECOMPILE 429 #include <pcl/features/impl/organized_edge_detection.hpp> 432 #endif //#ifndef PCL_FEATURES_ORGANIZED_EDGE_DETECTION_H_ void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
float getRGBCannyLowThreshold() const
Get the low threshold value for RGB Canny edge detection.
PointCloud::ConstPtr PointCloudConstPtr
void setRGBCannyLowThreshold(const float th)
Set the low threshold value for RGB Canny edge detection.
virtual ~OrganizedEdgeFromNormals()
Destructor for OrganizedEdgeFromNormals.
int detecting_edge_types_
The bit encoded value that represents edge types to detect.
Neighbor(int dx, int dy, int didx)
void setHCCannyHighThreshold(const float th)
Set the high threshold value for high curvature Canny edge detection.
static const int num_of_edgetype_
float th_rgb_canny_low_
The low threshold value for RGB Canny edge detection (default: 40.0)
int max_search_neighbors_
The max search distance for deciding occluding and occluded edges.
float th_hc_canny_low_
The low threshold value for high curvature Canny edge detection (default: 0.4)
boost::shared_ptr< OrganizedEdgeBase< PointT, PointLT > > Ptr
OrganizedEdgeFromRGBNormals()
Constructor for OrganizedEdgeFromRGBNormals.
void setDepthDisconThreshold(const float th)
Set the tolerance in meters for difference in depth values between neighboring points.
float th_hc_canny_high_
The high threshold value for high curvature Canny edge detection (default: 1.1)
boost::shared_ptr< PointCloud< PointT > > Ptr
PointCloud::Ptr PointCloudPtr
virtual ~OrganizedEdgeBase()
Destructor for OrganizedEdgeBase.
float getHCCannyLowThreshold() const
Get the low threshold value for high curvature Canny edge detection.
void setEdgeType(int edge_types)
Set the detecting edge types.
float getHCCannyHighThreshold() const
Get the high threshold value for high curvature Canny edge detection.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
float th_depth_discon_
The tolerance in meters for difference in depth values between neighboring points (The value is set f...
virtual ~OrganizedEdgeFromRGBNormals()
Destructor for OrganizedEdgeFromRGBNormals.
void compute(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Perform the 3D edge detection (edges from depth discontinuities)
PointCloud represents the base class in PCL for storing collections of 3D points. ...
int getEdgeType() const
Get the detecting edge types.
float getRGBCannyHighThreshold() const
Get the high threshold value for RGB Canny edge detection.
PointCloudNConstPtr normals_
A pointer to the input normals.
OrganizedEdgeFromNormals()
Constructor for OrganizedEdgeFromNormals.
OrganizedEdgeBase, OrganizedEdgeFromRGB, OrganizedEdgeFromNormals, and OrganizedEdgeFromRGBNormals fi...
OrganizedEdgeBase()
Constructor for OrganizedEdgeBase.
void setRGBCannyHighThreshold(const float th)
Set the high threshold value for RGB Canny edge detection.
float getDepthDisconThreshold() const
Get the tolerance in meters for difference in depth values between neighboring points.
boost::shared_ptr< const OrganizedEdgeBase< PointT, PointLT > > ConstPtr
int getMaxSearchNeighbors() const
Get the max search distance for deciding occluding and occluded edges.
void assignLabelIndices(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Assign point indices for each edge label.
virtual ~OrganizedEdgeFromRGB()
Destructor for OrganizedEdgeFromRGB.
A point structure representing Euclidean xyz coordinates, and the RGB color.
void setHCCannyLowThreshold(const float th)
Set the low threshold value for high curvature Canny edge detection.
float th_rgb_canny_high_
The high threshold value for RGB Canny edge detection (default: 100.0)
OrganizedEdgeFromRGB()
Constructor for OrganizedEdgeFromRGB.
void extractEdges(pcl::PointCloud< PointLT > &labels) const
Perform the 3D edge detection (edges from depth discontinuities) and assign point indices for each ed...
void setMaxSearchNeighbors(const int max_dist)
Set the max search distance for deciding occluding and occluded edges.
PointCloudNConstPtr getInputNormals() const
Get the input normals.