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 >:

Collaboration diagram for pcl::SegmentDifferences< PointT >:

Public Types
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	KdTree = pcl::search::Search< PointT >

using	KdTreePtr = typename KdTree::Ptr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

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

Public Member Functions
	SegmentDifferences ()=default
	Empty constructor. More...

void	setTargetCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the target dataset against which we compare the input cloud given in setInputCloud. More...

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

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...

KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used. More...

void	setDistanceThreshold (double sqr_threshold)
	Set the maximum distance tolerance (squared) between corresponding points in the two input datasets. More...

double	getDistanceThreshold ()
	Get the squared distance tolerance between corresponding points as a measure in the L2 Euclidean space. More...

void	segment (PointCloud &output)
	Segment differences between two input point clouds. 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
virtual std::string	getClassName () const
	Class getName method. More...

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::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
KdTreePtr	tree_ {nullptr}
	A pointer to the spatial search object. More...

PointCloudConstPtr	target_ {nullptr}
	The input target point cloud dataset. More...

double	distance_threshold_ {0.0}
	The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points. More...

PointCloudConstPtr	input_
	The input point cloud dataset. More...

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

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

◆ KdTree

template<typename PointT >

using pcl::SegmentDifferences< PointT >::KdTree = pcl::search::Search<PointT>

Definition at line 81 of file segment_differences.h.

◆ KdTreePtr

template<typename PointT >

using pcl::SegmentDifferences< PointT >::KdTreePtr = typename KdTree::Ptr

Definition at line 82 of file segment_differences.h.

◆ PointCloud

template<typename PointT >

using pcl::SegmentDifferences< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 77 of file segment_differences.h.

◆ PointCloudConstPtr

template<typename PointT >

using pcl::SegmentDifferences< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 79 of file segment_differences.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::SegmentDifferences< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 78 of file segment_differences.h.

◆ PointIndicesConstPtr

template<typename PointT >

using pcl::SegmentDifferences< PointT >::PointIndicesConstPtr = PointIndices::ConstPtr

Definition at line 85 of file segment_differences.h.

◆ PointIndicesPtr

template<typename PointT >

using pcl::SegmentDifferences< PointT >::PointIndicesPtr = PointIndices::Ptr

Definition at line 84 of file segment_differences.h.

Constructor & Destructor Documentation

◆ SegmentDifferences()

template<typename PointT >

pcl::SegmentDifferences< PointT >::SegmentDifferences ( )

default

Empty constructor.

Member Function Documentation

◆ deinitCompute()

template<typename PointT >

bool pcl::PCLBase< PointT >::deinitCompute

protected

This method should get called after finishing the actual computation.

Definition at line 173 of file pcl_base.hpp.

◆ getClassName()

template<typename PointT >

virtual std::string pcl::SegmentDifferences< PointT >::getClassName ( ) const

inlineprotectedvirtual

Class getName method.

Definition at line 152 of file segment_differences.h.

◆ getDistanceThreshold()

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 124 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::distance_threshold_.

◆ getSearchMethod()

template<typename PointT >

KdTreePtr pcl::SegmentDifferences< PointT >::getSearchMethod ( )

inline

Get a pointer to the search method used.

Definition at line 110 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::tree_.

◆ getTargetCloud()

template<typename PointT >

PointCloudConstPtr const pcl::SegmentDifferences< PointT >::getTargetCloud ( )

inline

Get a pointer to the input target point cloud dataset.

Definition at line 100 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::target_.

◆ initCompute()

template<typename PointT >

bool pcl::PCLBase< PointT >::initCompute

protected

This method should get called before starting the actual computation.

Internally, initCompute() does the following:

checks if an input dataset is given, and returns false otherwise
checks whether a set of input indices has been given. Returns true if yes.
if no input indices have been given, a fake set is created, which will be used until:
- either a new set is given via setIndices(), or
- a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices

Definition at line 168 of file pcl_base.hpp.

◆ segment()

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 90 of file segment_differences.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::getPointCloudDifference(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::search::one_knn_search, and pcl::PointCloud< PointT >::width.

◆ setDistanceThreshold()

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 118 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::distance_threshold_.

◆ setSearchMethod()

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 106 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::tree_.

◆ setTargetCloud()

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 96 of file segment_differences.h.

References pcl::SegmentDifferences< PointT >::target_.

Member Data Documentation

◆ distance_threshold_

template<typename PointT >

double pcl::SegmentDifferences< PointT >::distance_threshold_ {0.0}

protected

The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points.

Definition at line 148 of file segment_differences.h.

Referenced by pcl::SegmentDifferences< PointT >::getDistanceThreshold(), and pcl::SegmentDifferences< PointT >::setDistanceThreshold().

◆ indices_

template<typename PointT >

IndicesPtr pcl::PCLBase< PointT >::indices_

protected

A pointer to the vector of point indices to use.

Definition at line 150 of file pcl_base.h.

◆ input_

template<typename PointT >

PointCloudConstPtr pcl::PCLBase< PointT >::input_

protected

The input point cloud dataset.

Definition at line 147 of file pcl_base.h.

◆ target_

template<typename PointT >

PointCloudConstPtr pcl::SegmentDifferences< PointT >::target_ {nullptr}

protected

The input target point cloud dataset.

Definition at line 143 of file segment_differences.h.

Referenced by pcl::SegmentDifferences< PointT >::getTargetCloud(), and pcl::SegmentDifferences< PointT >::setTargetCloud().

◆ tree_

template<typename PointT >

KdTreePtr pcl::SegmentDifferences< PointT >::tree_ {nullptr}

protected

A pointer to the spatial search object.

Definition at line 140 of file segment_differences.h.

Referenced by pcl::SegmentDifferences< PointT >::getSearchMethod(), and pcl::SegmentDifferences< PointT >::setSearchMethod().

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

pcl/segmentation/segment_differences.h
pcl/segmentation/impl/segment_differences.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ KdTree

◆ KdTreePtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ PointIndicesConstPtr

◆ PointIndicesPtr

Constructor & Destructor Documentation

◆ SegmentDifferences()

Member Function Documentation

◆ deinitCompute()

◆ getClassName()

◆ getDistanceThreshold()

◆ getSearchMethod()

◆ getTargetCloud()

◆ initCompute()

◆ segment()

◆ setDistanceThreshold()

◆ setSearchMethod()

◆ setTargetCloud()

Member Data Documentation

◆ distance_threshold_

◆ indices_

◆ input_

◆ target_

◆ tree_

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