segment_differences.h

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/*
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 * $Id: segment_differences.h 34546 2010-12-06 11:27:12Z rusu $
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#ifndef PCL_SEGMENT_DIFFERENCES_H_
#define PCL_SEGMENT_DIFFERENCES_H_

#include <pcl/pcl_base.h>

#include "pcl/kdtree/kdtree.h"
#include "pcl/kdtree/tree_types.h"

namespace pcl
{

  template <typename PointT> 
  void getPointCloudDifference (
      const pcl::PointCloud<PointT> &src, const pcl::PointCloud<PointT> &tgt, 
      double threshold, const boost::shared_ptr<pcl::KdTree<PointT> > &tree, 
      pcl::PointCloud<PointT> &output);


  template <typename PointT>
  class SegmentDifferences: public PCLBase<PointT>
  {
    typedef PCLBase<PointT> BasePCLBase;

    public:
      typedef pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      typedef typename pcl::KdTree<PointT> KdTree;
      typedef typename pcl::KdTree<PointT>::Ptr KdTreePtr;

      typedef PointIndices::Ptr PointIndicesPtr;
      typedef PointIndices::ConstPtr PointIndicesConstPtr;


      SegmentDifferences () : tree_ (), target_ (), spatial_locator_ (0), distance_threshold_ (0)
      {};


      inline void setTargetCloud (const PointCloudConstPtr &cloud) { target_ = cloud; }


      inline PointCloudConstPtr const getTargetCloud () { return (target_); }


      inline void setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }


      inline KdTreePtr getSearchMethod () { return (tree_); }


      inline void setDistanceThreshold (double threshold) { distance_threshold_ = threshold; }


      inline double getDistanceThreshold () { return (distance_threshold_); }


      void segment (PointCloud &output);

    protected:
      // Members derived from the base class
      using BasePCLBase::input_;
      using BasePCLBase::indices_;
      using BasePCLBase::initCompute;
      using BasePCLBase::deinitCompute;

      KdTreePtr tree_;

      PointCloudConstPtr target_;

      int spatial_locator_;

      double distance_threshold_;


      virtual std::string getClassName () const { return ("SegmentDifferences"); }
  };
}

#endif  //#ifndef PCL_SEGMENT_DIFFERENCES_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:23 2013