#include <pcl/features/organized_edge_detection.h>

Inheritance diagram for pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >:

Collaboration diagram for pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >:

Public Member Functions
	OrganizedEdgeFromNormals ()
	Constructor for OrganizedEdgeFromNormals. More...

	~OrganizedEdgeFromNormals () override=default
	Destructor for OrganizedEdgeFromNormals. More...

void	compute (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
	Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) and assign point indices for each edge label. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input normals. More...

PointCloudNConstPtr	getInputNormals () const
	Get the input normals. More...

void	setHCCannyLowThreshold (const float th)
	Set the low threshold value for high curvature Canny edge detection. More...

float	getHCCannyLowThreshold () const
	Get the low threshold value for high curvature Canny edge detection. More...

void	setHCCannyHighThreshold (const float th)
	Set the high threshold value for high curvature Canny edge detection. More...

float	getHCCannyHighThreshold () const
	Get the high threshold value for high curvature Canny edge detection. More...

Public Member Functions inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
	OrganizedEdgeBase ()
	Constructor for OrganizedEdgeBase. More...

	~OrganizedEdgeBase () override=default
	Destructor for OrganizedEdgeBase. More...

void	compute (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
	Perform the 3D edge detection (edges from depth discontinuities) More...

void	setDepthDisconThreshold (const float th)
	Set the tolerance in meters for the relative difference in depth values between neighboring points. More...

float	getDepthDisconThreshold () const
	Get the tolerance in meters for the relative difference in depth values between neighboring points. More...

void	setMaxSearchNeighbors (const int max_dist)
	Set the max search distance for deciding occluding and occluded edges. More...

int	getMaxSearchNeighbors () const
	Get the max search distance for deciding occluding and occluded edges. More...

void	setEdgeType (int edge_types)
	Set the detecting edge types. More...

int	getEdgeType () const
	Get the detecting edge types. More...

Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	extractEdges (pcl::PointCloud< PointLT > &labels) const
	Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) More...

Protected Member Functions inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
void	extractEdges (pcl::PointCloud< PointLT > &labels) const
	Perform the 3D edge detection (edges from depth discontinuities) and assign point indices for each edge label. More...

void	assignLabelIndices (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
	Assign point indices for each edge label. More...

Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
PointCloudNConstPtr	normals_
	A pointer to the input normals. More...

float	th_hc_canny_low_ {0.4f}
	The low threshold value for high curvature Canny edge detection (default: 0.4) More...

float	th_hc_canny_high_ {1.1f}
	The high threshold value for high curvature Canny edge detection (default: 1.1) More...

Protected Attributes inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
float	th_depth_discon_ {0.02f}
	The tolerance in meters for the relative difference in depth values between neighboring points (The default value is set for .02 meters and is adapted with respect to depth value linearly. More...

int	max_search_neighbors_ {50}
	The max search distance for deciding occluding and occluded edges. More...

int	detecting_edge_types_
	The bit encoded value that represents edge types to detect. More...

Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Additional Inherited Members
Public Types inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
enum	{ EDGELABEL_NAN_BOUNDARY =1 , EDGELABEL_OCCLUDING =2 , EDGELABEL_OCCLUDED =4 , EDGELABEL_HIGH_CURVATURE =8 , EDGELABEL_RGB_CANNY =16 }

using	Ptr = shared_ptr< OrganizedEdgeBase< PointT, PointLT > >

using	ConstPtr = shared_ptr< const OrganizedEdgeBase< PointT, PointLT > >

Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Static Public Attributes inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
static const int	num_of_edgetype_ = 5

Detailed Description

template<typename PointT, typename PointNT, typename PointLT>
class pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >

Definition at line 262 of file organized_edge_detection.h.

Constructor & Destructor Documentation

◆ OrganizedEdgeFromNormals()

template<typename PointT , typename PointNT , typename PointLT >

pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::OrganizedEdgeFromNormals ( )

inline

Constructor for OrganizedEdgeFromNormals.

Definition at line 288 of file organized_edge_detection.h.

References pcl::OrganizedEdgeBase< PointT, PointLT >::EDGELABEL_HIGH_CURVATURE, pcl::OrganizedEdgeBase< PointT, PointLT >::EDGELABEL_NAN_BOUNDARY, pcl::OrganizedEdgeBase< PointT, PointLT >::EDGELABEL_OCCLUDED, pcl::OrganizedEdgeBase< PointT, PointLT >::EDGELABEL_OCCLUDING, and pcl::OrganizedEdgeBase< PointT, PointLT >::setEdgeType().

◆ ~OrganizedEdgeFromNormals()

template<typename PointT , typename PointNT , typename PointLT >

pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::~OrganizedEdgeFromNormals ( )

overridedefault

Destructor for OrganizedEdgeFromNormals.

Member Function Documentation

◆ compute()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::compute	(	pcl::PointCloud< PointLT > &	labels,
		std::vector< pcl::PointIndices > &	label_indices
	)		const

Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) and assign point indices for each edge label.

Parameters

[out]	labels	a PointCloud of edge labels
[out]	label_indices	a vector of PointIndices corresponding to each edge label

Definition at line 274 of file organized_edge_detection.hpp.

References pcl::PointCloud< PointT >::height, pcl::Label::label, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

◆ extractEdges()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::extractEdges ( pcl::PointCloud< PointLT > & labels ) const

protected

Perform the 3D edge detection (edges from depth discontinuities and high curvature regions)

Parameters

[out] labels a PointCloud of edge labels

Definition at line 290 of file organized_edge_detection.hpp.

References pcl::Edge< PointInT, PointOutT >::canny(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), pcl::Edge< PointInT, PointOutT >::setHysteresisThresholdHigh(), pcl::Edge< PointInT, PointOutT >::setHysteresisThresholdLow(), and pcl::PointCloud< PointT >::width.

◆ getHCCannyHighThreshold()

template<typename PointT , typename PointNT , typename PointLT >

float pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getHCCannyHighThreshold ( ) const

inline

Get the high threshold value for high curvature Canny edge detection.

Definition at line 345 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_high_.

◆ getHCCannyLowThreshold()

template<typename PointT , typename PointNT , typename PointLT >

float pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getHCCannyLowThreshold ( ) const

inline

Get the low threshold value for high curvature Canny edge detection.

Definition at line 331 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_low_.

◆ getInputNormals()

template<typename PointT , typename PointNT , typename PointLT >

PointCloudNConstPtr pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getInputNormals ( ) const

inline

Get the input normals.

Definition at line 317 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::normals_.

◆ setHCCannyHighThreshold()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setHCCannyHighThreshold ( const float th )

inline

Set the high threshold value for high curvature Canny edge detection.

Definition at line 338 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_high_.

◆ setHCCannyLowThreshold()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setHCCannyLowThreshold ( const float th )

inline

Set the low threshold value for high curvature Canny edge detection.

Definition at line 324 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_low_.

◆ setInputNormals()

template<typename PointT , typename PointNT , typename PointLT >

void pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setInputNormals ( const PointCloudNConstPtr & normals )

inline

Provide a pointer to the input normals.

Parameters

[in] normals the input normal cloud

Definition at line 310 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::normals_.

Member Data Documentation

◆ normals_

template<typename PointT , typename PointNT , typename PointLT >

PointCloudNConstPtr pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::normals_

protected

A pointer to the input normals.

Definition at line 358 of file organized_edge_detection.h.

Referenced by pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getInputNormals(), and pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setInputNormals().

◆ th_hc_canny_high_

template<typename PointT , typename PointNT , typename PointLT >

float pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_high_ {1.1f}

protected

The high threshold value for high curvature Canny edge detection (default: 1.1)

Definition at line 364 of file organized_edge_detection.h.

Referenced by pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getHCCannyHighThreshold(), and pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setHCCannyHighThreshold().

◆ th_hc_canny_low_

template<typename PointT , typename PointNT , typename PointLT >

float pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_low_ {0.4f}

protected

The low threshold value for high curvature Canny edge detection (default: 0.4)

Definition at line 361 of file organized_edge_detection.h.

Referenced by pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getHCCannyLowThreshold(), and pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setHCCannyLowThreshold().

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

pcl/features/organized_edge_detection.h
pcl/features/impl/organized_edge_detection.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename PointT, typename PointNT, typename PointLT> class pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >

Constructor & Destructor Documentation

◆ OrganizedEdgeFromNormals()

◆ ~OrganizedEdgeFromNormals()

Member Function Documentation

◆ compute()

◆ extractEdges()

◆ getHCCannyHighThreshold()

◆ getHCCannyLowThreshold()

◆ getInputNormals()

◆ setHCCannyHighThreshold()

◆ setHCCannyLowThreshold()

◆ setInputNormals()

Member Data Documentation

◆ normals_

◆ th_hc_canny_high_

◆ th_hc_canny_low_

template<typename PointT, typename PointNT, typename PointLT>
class pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >