pcl::SegmentDifferences< PointT > Class Template Reference

SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the difference between them for a maximum given distance threshold. More...

#include <segment_differences.h>

Inheritance diagram for pcl::SegmentDifferences< PointT >:
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List of all members.

Public Types

typedef pcl::KdTree< PointT > KdTree
typedef pcl::KdTree< PointT >::Ptr KdTreePtr
typedef pcl::PointCloud< PointT > PointCloud
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef PointCloud::Ptr PointCloudPtr
typedef PointIndices::ConstPtr PointIndicesConstPtr
typedef PointIndices::Ptr PointIndicesPtr

Public Member Functions

double getDistanceThreshold ()
 Get the distance tolerance between corresponding points as a measure in the L2 Euclidean space.
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used.
PointCloudConstPtr const getTargetCloud ()
 Get a pointer to the input target point cloud dataset.
void segment (PointCloud &output)
 Segment differences between two input point clouds.
 SegmentDifferences ()
 Empty constructor.
void setDistanceThreshold (double threshold)
 Set the maximum distance tolerance between corresponding points in the two input datasets.
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object.
void setTargetCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the target dataset against which we compare the input cloud given in setInputCloud.

Protected Member Functions

virtual std::string getClassName () const
 Class getName method.

Protected Attributes

double distance_threshold_
 The distance tolerance as a measure in the L2 Euclidean space between corresponding points.
int spatial_locator_
 Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Nearest Neigbor library) kd-tree 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree 2: Organized spatial dataset index.
PointCloudConstPtr target_
 The input target point cloud dataset.
KdTreePtr tree_
 A pointer to the spatial search object.

Private Types

typedef PCLBase< PointT > BasePCLBase

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 71 of file segment_differences.h.


Member Typedef Documentation

template<typename PointT>
typedef PCLBase<PointT> pcl::SegmentDifferences< PointT >::BasePCLBase [private]

Definition at line 73 of file segment_differences.h.

template<typename PointT>
typedef pcl::KdTree<PointT> pcl::SegmentDifferences< PointT >::KdTree

Definition at line 80 of file segment_differences.h.

template<typename PointT>
typedef pcl::KdTree<PointT>::Ptr pcl::SegmentDifferences< PointT >::KdTreePtr

Definition at line 81 of file segment_differences.h.

template<typename PointT>
typedef pcl::PointCloud<PointT> pcl::SegmentDifferences< PointT >::PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 76 of file segment_differences.h.

template<typename PointT>
typedef PointCloud::ConstPtr pcl::SegmentDifferences< PointT >::PointCloudConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 78 of file segment_differences.h.

template<typename PointT>
typedef PointCloud::Ptr pcl::SegmentDifferences< PointT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 77 of file segment_differences.h.

template<typename PointT>
typedef PointIndices::ConstPtr pcl::SegmentDifferences< PointT >::PointIndicesConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 84 of file segment_differences.h.

template<typename PointT>
typedef PointIndices::Ptr pcl::SegmentDifferences< PointT >::PointIndicesPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 83 of file segment_differences.h.


Constructor & Destructor Documentation

template<typename PointT>
pcl::SegmentDifferences< PointT >::SegmentDifferences (  )  [inline]

Empty constructor.

Definition at line 88 of file segment_differences.h.


Member Function Documentation

template<typename PointT>
virtual std::string pcl::SegmentDifferences< PointT >::getClassName (  )  const [inline, protected, virtual]

Class getName method.

Definition at line 152 of file segment_differences.h.

template<typename PointT>
double pcl::SegmentDifferences< PointT >::getDistanceThreshold (  )  [inline]

Get the distance tolerance between corresponding points as a measure in the L2 Euclidean space.

Definition at line 119 of file segment_differences.h.

template<typename PointT>
KdTreePtr pcl::SegmentDifferences< PointT >::getSearchMethod (  )  [inline]

Get a pointer to the search method used.

Definition at line 109 of file segment_differences.h.

template<typename PointT>
PointCloudConstPtr const pcl::SegmentDifferences< PointT >::getTargetCloud (  )  [inline]

Get a pointer to the input target point cloud dataset.

Definition at line 99 of file segment_differences.h.

template<typename PointT >
void pcl::SegmentDifferences< PointT >::segment ( PointCloud output  )  [inline]

Segment differences between two input point clouds.

Parameters:
output the resultant difference between the two point clouds as a PointCloud

Definition at line 80 of file segment_differences.hpp.

template<typename PointT>
void pcl::SegmentDifferences< PointT >::setDistanceThreshold ( double  threshold  )  [inline]

Set the maximum distance tolerance between corresponding points in the two input datasets.

Parameters:
threshold the distance tolerance as a measure in the L2 Euclidean space

Definition at line 115 of file segment_differences.h.

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 105 of file segment_differences.h.

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 95 of file segment_differences.h.


Member Data Documentation

template<typename PointT>
double pcl::SegmentDifferences< PointT >::distance_threshold_ [protected]

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

Definition at line 148 of file segment_differences.h.

template<typename PointT>
int pcl::SegmentDifferences< PointT >::spatial_locator_ [protected]

Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Nearest Neigbor library) kd-tree 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree 2: Organized spatial dataset index.

Definition at line 145 of file segment_differences.h.

template<typename PointT>
PointCloudConstPtr pcl::SegmentDifferences< PointT >::target_ [protected]

The input target point cloud dataset.

Definition at line 138 of file segment_differences.h.

template<typename PointT>
KdTreePtr pcl::SegmentDifferences< PointT >::tree_ [protected]

A pointer to the spatial search object.

Definition at line 135 of file segment_differences.h.


The documentation for this class was generated from the following files:
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pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:57:23 2013