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_
boost::shared_ptr< PointCloud< PointT > > Ptr
pcl::PointCloud< PointT > PointCloud
pcl::search::Search< PointT > KdTree
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
pcl::search::Search< PointT >::Ptr KdTreePtr
double getDistanceThreshold()
Get the squared distance tolerance between corresponding points as a measure in the L2 Euclidean spac...
double distance_threshold_
The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points...
PointCloudConstPtr const getTargetCloud()
Get a pointer to the input target point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
bool initCompute()
This method should get called before starting the actual computation.
void segment(PointCloud &output)
Segment differences between two input point clouds.
SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the ...
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
virtual std::string getClassName() const
Class getName method.
SegmentDifferences()
Empty constructor.
PointIndices::ConstPtr PointIndicesConstPtr
KdTreePtr tree_
A pointer to the spatial search object.
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
PointCloudConstPtr target_
The input target point cloud dataset.
PointIndices::Ptr PointIndicesPtr
PointCloud::Ptr PointCloudPtr
void setTargetCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the target dataset against which we compare the input cloud given in setInputClo...
bool deinitCompute()
This method should get called after finishing the actual computation.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< ::pcl::PointIndices > Ptr
void setDistanceThreshold(double sqr_threshold)
Set the maximum distance tolerance (squared) between corresponding points in the two input datasets...
PointCloudConstPtr input_
The input point cloud dataset.
PointCloud::ConstPtr PointCloudConstPtr
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...
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr