segment_differences.h
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00001 /*
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00037 
00038 #ifndef PCL_SEGMENT_DIFFERENCES_H_
00039 #define PCL_SEGMENT_DIFFERENCES_H_
00040 
00041 #include <pcl/pcl_base.h>
00042 #include <pcl/search/pcl_search.h>
00043 
00044 namespace pcl
00045 {
00047 
00056   template <typename PointT> 
00057   void getPointCloudDifference (
00058       const pcl::PointCloud<PointT> &src, const pcl::PointCloud<PointT> &tgt, 
00059       double threshold, const boost::shared_ptr<pcl::search::Search<PointT> > &tree,
00060       pcl::PointCloud<PointT> &output);
00061 
00065 
00071   template <typename PointT>
00072   class SegmentDifferences: public PCLBase<PointT>
00073   {
00074     typedef PCLBase<PointT> BasePCLBase;
00075 
00076     public:
00077       typedef pcl::PointCloud<PointT> PointCloud;
00078       typedef typename PointCloud::Ptr PointCloudPtr;
00079       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00080 
00081       typedef typename pcl::search::Search<PointT> KdTree;
00082       typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
00083 
00084       typedef PointIndices::Ptr PointIndicesPtr;
00085       typedef PointIndices::ConstPtr PointIndicesConstPtr;
00086 
00088       SegmentDifferences () : 
00089         tree_ (), target_ (), distance_threshold_ (0)
00090       {};
00091 
00097       inline void 
00098       setTargetCloud (const PointCloudConstPtr &cloud) { target_ = cloud; }
00099 
00101       inline PointCloudConstPtr const 
00102       getTargetCloud () { return (target_); }
00103 
00107       inline void 
00108       setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
00109 
00111       inline KdTreePtr 
00112       getSearchMethod () { return (tree_); }
00113 
00119       inline void 
00120       setDistanceThreshold (double sqr_threshold) { distance_threshold_ = sqr_threshold; }
00121 
00125       inline double 
00126       getDistanceThreshold () { return (distance_threshold_); }
00127 
00131       void 
00132       segment (PointCloud &output);
00133 
00134     protected:
00135       // Members derived from the base class
00136       using BasePCLBase::input_;
00137       using BasePCLBase::indices_;
00138       using BasePCLBase::initCompute;
00139       using BasePCLBase::deinitCompute;
00140 
00142       KdTreePtr tree_;
00143 
00145       PointCloudConstPtr target_;
00146 
00150       double distance_threshold_;
00151 
00153       virtual std::string 
00154       getClassName () const { return ("SegmentDifferences"); }
00155   };
00156 }
00157 
00158 #ifdef PCL_NO_PRECOMPILE
00159 #include <pcl/segmentation/impl/segment_differences.hpp>
00160 #endif
00161 
00162 #endif  //#ifndef PCL_SEGMENT_DIFFERENCES_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:33:22