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Point Cloud Library (PCL)
1.15.0-dev
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Point Cloud Library (PCL)
1.15.0-dev
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#include <pcl/features/organized_edge_detection.h>
Inheritance diagram for pcl::OrganizedEdgeFromRGBNormals< PointT, PointNT, PointLT >: Collaboration diagram for pcl::OrganizedEdgeFromRGBNormals< PointT, PointNT, PointLT >:Public Member Functions | |
| OrganizedEdgeFromRGBNormals () | |
| Constructor for OrganizedEdgeFromRGBNormals. More... | |
| ~OrganizedEdgeFromRGBNormals () override=default | |
| Destructor for OrganizedEdgeFromRGBNormals. More... | |
| void | compute (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const |
| Perform the 3D edge detection (edges from depth discontinuities, RGB Canny edge, and high curvature regions) and assign point indices for each edge label. More... | |
| Public Member Functions inherited from pcl::OrganizedEdgeFromRGB< PointT, PointLT > | |
| OrganizedEdgeFromRGB () | |
| Constructor for OrganizedEdgeFromRGB. More... | |
| ~OrganizedEdgeFromRGB () override=default | |
| Destructor for OrganizedEdgeFromRGB. More... | |
| void | compute (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const |
| Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) and assign point indices for each edge label. More... | |
| void | setRGBCannyLowThreshold (const float th) |
| Set the low threshold value for RGB Canny edge detection. More... | |
| float | getRGBCannyLowThreshold () const |
| Get the low threshold value for RGB Canny edge detection. More... | |
| void | setRGBCannyHighThreshold (const float th) |
| Set the high threshold value for RGB Canny edge detection. More... | |
| float | getRGBCannyHighThreshold () const |
| Get the high threshold value for RGB 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... | |
| Public Member Functions inherited from pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT > | |
| 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... | |
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 |
| Protected Member Functions inherited from pcl::OrganizedEdgeFromRGB< PointT, PointLT > | |
| void | extractEdges (pcl::PointCloud< PointLT > &labels) const |
| Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) 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 Member Functions inherited from pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT > | |
| void | extractEdges (pcl::PointCloud< PointLT > &labels) const |
| Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) More... | |
| Protected Attributes inherited from pcl::OrganizedEdgeFromRGB< PointT, PointLT > | |
| float | th_rgb_canny_low_ {40.0} |
| The low threshold value for RGB Canny edge detection (default: 40.0) More... | |
| float | th_rgb_canny_high_ {100.0} |
| The high threshold value for RGB Canny edge detection (default: 100.0) 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... | |
| Protected Attributes inherited from pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT > | |
| 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... | |
Definition at line 368 of file organized_edge_detection.h.
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inline |
Constructor for OrganizedEdgeFromRGBNormals.
Definition at line 395 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, pcl::OrganizedEdgeBase< PointT, PointLT >::EDGELABEL_RGB_CANNY, and pcl::OrganizedEdgeBase< PointT, PointLT >::setEdgeType().
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overridedefault |
Destructor for OrganizedEdgeFromRGBNormals.
| void pcl::OrganizedEdgeFromRGBNormals< PointT, PointNT, PointLT >::compute | ( | pcl::PointCloud< PointLT > & | labels, |
| std::vector< pcl::PointIndices > & | label_indices | ||
| ) | const |
Perform the 3D edge detection (edges from depth discontinuities, RGB Canny edge, and high curvature regions) and assign point indices for each edge label.
| [out] | labels | a PointCloud of edge labels |
| [out] | label_indices | a vector of PointIndices corresponding to each edge label |
Definition at line 332 of file organized_edge_detection.hpp.
References pcl::PointCloud< PointT >::height, pcl::Label::label, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.
