Point Cloud Library (PCL)  1.10.0
segment_differences.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_base.h>
41 #include <pcl/search/pcl_search.h>
42 
43 namespace pcl
44 {
45  ////////////////////////////////////////////////////////////////////////////////////////////
46  /** \brief Obtain the difference between two aligned point clouds as another point cloud, given a distance threshold.
47  * \param src the input point cloud source
48  * \param threshold the distance threshold (tolerance) for point correspondences. (e.g., check if f a point p1 from
49  * src has a correspondence > threshold than a point p2 from tgt)
50  * \param tree the spatial locator (e.g., kd-tree) used for nearest neighbors searching built over the target cloud
51  * \param output the resultant output point cloud difference
52  * \ingroup segmentation
53  */
54  template <typename PointT>
56  const pcl::PointCloud<PointT> &src,
57  double threshold,
58  const typename pcl::search::Search<PointT>::Ptr &tree,
59  pcl::PointCloud<PointT> &output);
60 
61  template <typename PointT>
62  [[deprecated("tgt parameter is not used; it is deprecated and will be removed in future releases")]]
64  const pcl::PointCloud<PointT> &src,
65  const pcl::PointCloud<PointT> & /* tgt */,
66  double threshold,
67  const typename pcl::search::Search<PointT>::Ptr &tree,
69  {
70  getPointCloudDifference<PointT> (src, threshold, tree, output);
71  }
72 
73  ////////////////////////////////////////////////////////////////////////////////////////////
74  ////////////////////////////////////////////////////////////////////////////////////////////
75  ////////////////////////////////////////////////////////////////////////////////////////////
76  /** \brief @b SegmentDifferences obtains the difference between two spatially
77  * aligned point clouds and returns the difference between them for a maximum
78  * given distance threshold.
79  * \author Radu Bogdan Rusu
80  * \ingroup segmentation
81  */
82  template <typename PointT>
83  class SegmentDifferences: public PCLBase<PointT>
84  {
86 
87  public:
89  using PointCloudPtr = typename PointCloud::Ptr;
91 
93  using KdTreePtr = typename KdTree::Ptr;
94 
97 
98  /** \brief Empty constructor. */
100  tree_ (), target_ (), distance_threshold_ (0)
101  {};
102 
103  /** \brief Provide a pointer to the target dataset against which we
104  * compare the input cloud given in setInputCloud
105  *
106  * \param cloud the target PointCloud dataset
107  */
108  inline void
109  setTargetCloud (const PointCloudConstPtr &cloud) { target_ = cloud; }
110 
111  /** \brief Get a pointer to the input target point cloud dataset. */
112  inline PointCloudConstPtr const
113  getTargetCloud () { return (target_); }
114 
115  /** \brief Provide a pointer to the search object.
116  * \param tree a pointer to the spatial search object.
117  */
118  inline void
119  setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
120 
121  /** \brief Get a pointer to the search method used. */
122  inline KdTreePtr
123  getSearchMethod () { return (tree_); }
124 
125  /** \brief Set the maximum distance tolerance (squared) between corresponding
126  * points in the two input datasets.
127  *
128  * \param sqr_threshold the squared distance tolerance as a measure in L2 Euclidean space
129  */
130  inline void
131  setDistanceThreshold (double sqr_threshold) { distance_threshold_ = sqr_threshold; }
132 
133  /** \brief Get the squared distance tolerance between corresponding points as a
134  * measure in the L2 Euclidean space.
135  */
136  inline double
138 
139  /** \brief Segment differences between two input point clouds.
140  * \param output the resultant difference between the two point clouds as a PointCloud
141  */
142  void
143  segment (PointCloud &output);
144 
145  protected:
146  // Members derived from the base class
147  using BasePCLBase::input_;
148  using BasePCLBase::indices_;
151 
152  /** \brief A pointer to the spatial search object. */
154 
155  /** \brief The input target point cloud dataset. */
157 
158  /** \brief The distance tolerance (squared) as a measure in the L2
159  * Euclidean space between corresponding points.
160  */
162 
163  /** \brief Class getName method. */
164  virtual std::string
165  getClassName () const { return ("SegmentDifferences"); }
166  };
167 }
168 
169 #ifdef PCL_NO_PRECOMPILE
170 #include <pcl/segmentation/impl/segment_differences.hpp>
171 #endif
pcl::search::Search
Generic search class.
Definition: search.h:73
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::PCLBase::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
pcl::PCLBase::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition: pcl_base.h:151
pcl::PCLBase::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
pcl::SegmentDifferences::segment
void segment(PointCloud &output)
Segment differences between two input point clouds.
Definition: segment_differences.hpp:87
pcl::PCLBase
PCL base class.
Definition: pcl_base.h:69
pcl::PCLBase::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition: pcl_base.h:77
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:52
pcl::SegmentDifferences::setDistanceThreshold
void setDistanceThreshold(double sqr_threshold)
Set the maximum distance tolerance (squared) between corresponding points in the two input datasets.
Definition: segment_differences.h:131
pcl::SegmentDifferences::tree_
KdTreePtr tree_
A pointer to the spatial search object.
Definition: segment_differences.h:153
pcl::SegmentDifferences::target_
PointCloudConstPtr target_
The input target point cloud dataset.
Definition: segment_differences.h:156
pcl::SegmentDifferences
SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the ...
Definition: segment_differences.h:83
pcl::PointIndices::ConstPtr
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:23
pcl::SegmentDifferences::setTargetCloud
void setTargetCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the target dataset against which we compare the input cloud given in setInputClo...
Definition: segment_differences.h:109
pcl::SegmentDifferences::getTargetCloud
const PointCloudConstPtr getTargetCloud()
Get a pointer to the input target point cloud dataset.
Definition: segment_differences.h:113
pcl::SegmentDifferences::distance_threshold_
double distance_threshold_
The distance tolerance (squared) as a measure in the L2 Euclidean space between corresponding points.
Definition: segment_differences.h:161
pcl::search::Search::Ptr
shared_ptr< pcl::search::Search< PointT > > Ptr
Definition: search.h:80
pcl::SegmentDifferences::SegmentDifferences
SegmentDifferences()
Empty constructor.
Definition: segment_differences.h:99
pcl::PointIndices::Ptr
shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:22
pcl::SegmentDifferences::getClassName
virtual std::string getClassName() const
Class getName method.
Definition: segment_differences.h:165
pcl::SegmentDifferences::getDistanceThreshold
double getDistanceThreshold()
Get the squared distance tolerance between corresponding points as a measure in the L2 Euclidean spac...
Definition: segment_differences.h:137
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:415
pcl::PCLBase::deinitCompute
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition: pcl_base.hpp:171
pcl::PCLBase::indices_
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition: pcl_base.h:154
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:416
pcl::SegmentDifferences::KdTreePtr
typename KdTree::Ptr KdTreePtr
Definition: segment_differences.h:93
pcl::PCLBase::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition: pcl_base.h:76
pcl::getPointCloudDifference
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...
Definition: segment_differences.hpp:46
pcl::SegmentDifferences::getSearchMethod
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
Definition: segment_differences.h:123
pcl::PCLBase::initCompute
bool initCompute()
This method should get called before starting the actual computation.
Definition: pcl_base.hpp:138
pcl::SegmentDifferences::setSearchMethod
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
Definition: segment_differences.h:119