38 #ifndef PCL_SEGMENT_DIFFERENCES_H_
39 #define PCL_SEGMENT_DIFFERENCES_H_
41 #include <pcl/pcl_base.h>
42 #include <pcl/search/pcl_search.h>
56 template <
typename Po
intT>
71 template <
typename Po
intT>
101 inline PointCloudConstPtr
const
158 #ifdef PCL_NO_PRECOMPILE
159 #include <pcl/segmentation/impl/segment_differences.hpp>
162 #endif //#ifndef PCL_SEGMENT_DIFFERENCES_H_
pcl::search::Search< PointT >::Ptr KdTreePtr
KdTreePtr tree_
A pointer to the spatial search object.
void setDistanceThreshold(double sqr_threshold)
Set the maximum distance tolerance (squared) between corresponding points in the two input datasets...
void getPointCloudDifference(const pcl::PointCloud< PointT > &src, const pcl::PointCloud< PointT > &tgt, double threshold, const boost::shared_ptr< pcl::search::Search< PointT > > &tree, pcl::PointCloud< PointT > &output)
Obtain the difference between two aligned point clouds as another point cloud, given a distance thres...
PointCloud::ConstPtr PointCloudConstPtr
virtual std::string getClassName() const
Class getName method.
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
double getDistanceThreshold()
Get the squared distance tolerance between corresponding points as a measure in the L2 Euclidean spac...
void setTargetCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the target dataset against which we compare the input cloud given in setInputClo...
pcl::search::Search< PointT > KdTree
PointIndices::Ptr PointIndicesPtr
IndicesPtr indices_
A pointer to the vector of point indices to use.
bool initCompute()
This method should get called before starting the actual computation.
PointCloud::Ptr PointCloudPtr
SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the ...
pcl::PointCloud< PointT > PointCloud
PointCloudConstPtr input_
The input point cloud dataset.
bool deinitCompute()
This method should get called after finishing the actual computation.
PointCloudConstPtr target_
The input target point cloud dataset.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< ::pcl::PointIndices > Ptr
PointIndices::ConstPtr PointIndicesConstPtr
PointCloudConstPtr const getTargetCloud()
Get a pointer to the input target point cloud dataset.
boost::shared_ptr< PointCloud< PointT > > Ptr
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void segment(PointCloud &output)
Segment differences between two input point clouds.
SegmentDifferences()
Empty constructor.
double distance_threshold_
The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points...
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.