Point Cloud Library (PCL)  1.12.0-dev
segment_differences.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_base.h>
41 #include <pcl/pcl_macros.h>
42 #include <pcl/search/search.h> // for Search
43 
44 namespace pcl
45 {
46  ////////////////////////////////////////////////////////////////////////////////////////////
47  /** \brief Obtain the difference between two aligned point clouds as another point cloud, given a distance threshold.
48  * \param src the input point cloud source
49  * \param threshold the distance threshold (tolerance) for point correspondences. (e.g., check if f a point p1 from
50  * src has a correspondence > threshold than a point p2 from tgt)
51  * \param tree the spatial locator (e.g., kd-tree) used for nearest neighbors searching built over the target cloud
52  * \param output the resultant output point cloud difference
53  * \ingroup segmentation
54  */
55  template <typename PointT>
57  const pcl::PointCloud<PointT> &src,
58  double threshold,
59  const typename pcl::search::Search<PointT>::Ptr &tree,
60  pcl::PointCloud<PointT> &output);
61 
62  ////////////////////////////////////////////////////////////////////////////////////////////
63  ////////////////////////////////////////////////////////////////////////////////////////////
64  ////////////////////////////////////////////////////////////////////////////////////////////
65  /** \brief @b SegmentDifferences obtains the difference between two spatially
66  * aligned point clouds and returns the difference between them for a maximum
67  * given distance threshold.
68  * \author Radu Bogdan Rusu
69  * \ingroup segmentation
70  */
71  template <typename PointT>
72  class SegmentDifferences: public PCLBase<PointT>
73  {
75 
76  public:
78  using PointCloudPtr = typename PointCloud::Ptr;
80 
82  using KdTreePtr = typename KdTree::Ptr;
83 
86 
87  /** \brief Empty constructor. */
90  {};
91 
92  /** \brief Provide a pointer to the target dataset against which we
93  * compare the input cloud given in setInputCloud
94  *
95  * \param cloud the target PointCloud dataset
96  */
97  inline void
98  setTargetCloud (const PointCloudConstPtr &cloud) { target_ = cloud; }
99 
100  /** \brief Get a pointer to the input target point cloud dataset. */
101  inline PointCloudConstPtr const
102  getTargetCloud () { return (target_); }
103 
104  /** \brief Provide a pointer to the search object.
105  * \param tree a pointer to the spatial search object.
106  */
107  inline void
108  setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
109 
110  /** \brief Get a pointer to the search method used. */
111  inline KdTreePtr
112  getSearchMethod () { return (tree_); }
113 
114  /** \brief Set the maximum distance tolerance (squared) between corresponding
115  * points in the two input datasets.
116  *
117  * \param sqr_threshold the squared distance tolerance as a measure in L2 Euclidean space
118  */
119  inline void
120  setDistanceThreshold (double sqr_threshold) { distance_threshold_ = sqr_threshold; }
121 
122  /** \brief Get the squared distance tolerance between corresponding points as a
123  * measure in the L2 Euclidean space.
124  */
125  inline double
127 
128  /** \brief Segment differences between two input point clouds.
129  * \param output the resultant difference between the two point clouds as a PointCloud
130  */
131  void
132  segment (PointCloud &output);
133 
134  protected:
135  // Members derived from the base class
136  using BasePCLBase::input_;
137  using BasePCLBase::indices_;
140 
141  /** \brief A pointer to the spatial search object. */
143 
144  /** \brief The input target point cloud dataset. */
146 
147  /** \brief The distance tolerance (squared) as a measure in the L2
148  * Euclidean space between corresponding points.
149  */
151 
152  /** \brief Class getName method. */
153  virtual std::string
154  getClassName () const { return ("SegmentDifferences"); }
155  };
156 }
157 
158 #ifdef PCL_NO_PRECOMPILE
159 #include <pcl/segmentation/impl/segment_differences.hpp>
160 #endif
pcl::search::Search
Generic search class.
Definition: search.h:74
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::PCLBase::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
pcl::PCLBase::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition: pcl_base.h:147
pcl::PCLBase::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
pcl::SegmentDifferences::segment
void segment(PointCloud &output)
Segment differences between two input point clouds.
Definition: segment_differences.hpp:91
pcl::PCLBase
PCL base class.
Definition: pcl_base.h:69
pcl::PCLBase::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition: pcl_base.h:77
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::SegmentDifferences::setDistanceThreshold
void setDistanceThreshold(double sqr_threshold)
Set the maximum distance tolerance (squared) between corresponding points in the two input datasets.
Definition: segment_differences.h:120
pcl::SegmentDifferences::tree_
KdTreePtr tree_
A pointer to the spatial search object.
Definition: segment_differences.h:142
pcl::SegmentDifferences::target_
PointCloudConstPtr target_
The input target point cloud dataset.
Definition: segment_differences.h:145
pcl::SegmentDifferences
SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the ...
Definition: segment_differences.h:72
pcl::PointIndices::ConstPtr
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:14
pcl::SegmentDifferences::setTargetCloud
void setTargetCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the target dataset against which we compare the input cloud given in setInputClo...
Definition: segment_differences.h:98
pcl::SegmentDifferences::getTargetCloud
const PointCloudConstPtr getTargetCloud()
Get a pointer to the input target point cloud dataset.
Definition: segment_differences.h:102
pcl::SegmentDifferences::distance_threshold_
double distance_threshold_
The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points.
Definition: segment_differences.h:150
pcl::search::Search::Ptr
shared_ptr< pcl::search::Search< PointT > > Ptr
Definition: search.h:81
pcl::SegmentDifferences::SegmentDifferences
SegmentDifferences()
Empty constructor.
Definition: segment_differences.h:88
pcl::PointIndices::Ptr
shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:13
pcl::SegmentDifferences::getClassName
virtual std::string getClassName() const
Class getName method.
Definition: segment_differences.h:154
pcl::SegmentDifferences::getDistanceThreshold
double getDistanceThreshold()
Get the squared distance tolerance between corresponding points as a measure in the L2 Euclidean spac...
Definition: segment_differences.h:126
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::PCLBase::deinitCompute
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition: pcl_base.hpp:174
pcl::PCLBase::indices_
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition: pcl_base.h:150
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
pcl::SegmentDifferences::KdTreePtr
typename KdTree::Ptr KdTreePtr
Definition: segment_differences.h:82
pcl::PCLBase::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition: pcl_base.h:76
pcl::getPointCloudDifference
void getPointCloudDifference(const pcl::PointCloud< PointT > &src, double threshold, const typename pcl::search::Search< PointT >::Ptr &tree, pcl::PointCloud< PointT > &output)
Obtain the difference between two aligned point clouds as another point cloud, given a distance thres...
Definition: segment_differences.hpp:50
pcl::SegmentDifferences::getSearchMethod
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
Definition: segment_differences.h:112
pcl::PCLBase::initCompute
bool initCompute()
This method should get called before starting the actual computation.
Definition: pcl_base.hpp:138
pcl::SegmentDifferences::setSearchMethod
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
Definition: segment_differences.h:108