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 >:

[legend]

List of all members.

Public Types
typedef pcl::search::Search < PointT >	KdTree
typedef pcl::search::Search < 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 squared 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 sqr_threshold)
	Set the maximum distance tolerance (squared) 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 (squared) as a measure in the L2 Euclidean space between corresponding points.
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 72 of file segment_differences.h.

Member Typedef Documentation

template<typename PointT>

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

Definition at line 74 of file segment_differences.h.

template<typename PointT>

typedef pcl::search::Search<PointT> pcl::SegmentDifferences< PointT >::KdTree

Definition at line 81 of file segment_differences.h.

template<typename PointT>

typedef pcl::search::Search<PointT>::Ptr pcl::SegmentDifferences< PointT >::KdTreePtr

Definition at line 82 of file segment_differences.h.

template<typename PointT>

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 77 of file segment_differences.h.

template<typename PointT>

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 79 of file segment_differences.h.

template<typename PointT>

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 78 of file segment_differences.h.

template<typename PointT>

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 85 of file segment_differences.h.

template<typename PointT>

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 84 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 154 of file segment_differences.h.

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 126 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 112 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 102 of file segment_differences.h.

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 99 of file segment_differences.hpp.

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 120 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 108 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 98 of file segment_differences.h.

Member Data Documentation

template<typename PointT>

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

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

Definition at line 150 of file segment_differences.h.

template<typename PointT>

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

The input target point cloud dataset.

Definition at line 145 of file segment_differences.h.

template<typename PointT>

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

A pointer to the spatial search object.

Definition at line 142 of file segment_differences.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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