40#include <pcl/pcl_base.h>
42#include <pcl/search/search.h>
55 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>
PointCloudConstPtr input_
The input 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.
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.
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< PointCloud< PointT > > Ptr
SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the ...
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 setInputClo...
double getDistanceThreshold()
Get the squared distance tolerance between corresponding points as a measure in the L2 Euclidean spac...
PointIndices::ConstPtr PointIndicesConstPtr
void segment(PointCloud &output)
Segment differences between two input point clouds.
SegmentDifferences()
Empty constructor.
KdTreePtr tree_
A pointer to the spatial search object.
PointCloudConstPtr target_
The input target point cloud dataset.
PointCloudConstPtr const getTargetCloud()
Get a pointer to the input target point cloud dataset.
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
typename PointCloud::Ptr PointCloudPtr
typename KdTree::Ptr KdTreePtr
void setDistanceThreshold(double sqr_threshold)
Set the maximum distance tolerance (squared) between corresponding points in the two input datasets.
PointIndices::Ptr PointIndicesPtr
typename PointCloud::ConstPtr PointCloudConstPtr
double distance_threshold_
The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points.
virtual std::string getClassName() const
Class getName method.
shared_ptr< pcl::search::Search< PointT > > Ptr
void getPointCloudDifference(const pcl::PointCloud< PointT > &src, double threshold, const typename pcl::search::Search< PointT >::Ptr &tree, pcl::PointCloud< PointT > &output)
Obtain the difference between two aligned point clouds as another point cloud, given a distance thres...
Defines all the PCL and non-PCL macros used.
shared_ptr< ::pcl::PointIndices > Ptr
shared_ptr< const ::pcl::PointIndices > ConstPtr