Point Cloud Library (PCL)
1.8.1
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#include <pcl/features/organized_edge_detection.h>
Public Member Functions | |
OrganizedEdgeFromRGBNormals () | |
Constructor for OrganizedEdgeFromRGBNormals. More... | |
virtual | ~OrganizedEdgeFromRGBNormals () |
Destructor for OrganizedEdgeFromRGBNormals. More... | |
void | compute (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const |
Perform the 3D edge detection (edges from depth discontinuities, RGB Canny edge, and high curvature regions) and assign point indices for each edge label. More... | |
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OrganizedEdgeFromRGB () | |
Constructor for OrganizedEdgeFromRGB. More... | |
virtual | ~OrganizedEdgeFromRGB () |
Destructor for OrganizedEdgeFromRGB. More... | |
void | compute (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const |
Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) and assign point indices for each edge label. More... | |
void | setRGBCannyLowThreshold (const float th) |
Set the low threshold value for RGB Canny edge detection. More... | |
float | getRGBCannyLowThreshold () const |
Get the low threshold value for RGB Canny edge detection. More... | |
void | setRGBCannyHighThreshold (const float th) |
Set the high threshold value for RGB Canny edge detection. More... | |
float | getRGBCannyHighThreshold () const |
Get the high threshold value for RGB Canny edge detection. More... | |
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OrganizedEdgeBase () | |
Constructor for OrganizedEdgeBase. More... | |
virtual | ~OrganizedEdgeBase () |
Destructor for OrganizedEdgeBase. More... | |
void | compute (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const |
Perform the 3D edge detection (edges from depth discontinuities) More... | |
void | setDepthDisconThreshold (const float th) |
Set the tolerance in meters for difference in depth values between neighboring points. More... | |
float | getDepthDisconThreshold () const |
Get the tolerance in meters for difference in depth values between neighboring points. More... | |
void | setMaxSearchNeighbors (const int max_dist) |
Set the max search distance for deciding occluding and occluded edges. More... | |
int | getMaxSearchNeighbors () const |
Get the max search distance for deciding occluding and occluded edges. More... | |
void | setEdgeType (int edge_types) |
Set the detecting edge types. More... | |
int | getEdgeType () const |
Get the detecting edge types. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
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OrganizedEdgeFromNormals () | |
Constructor for OrganizedEdgeFromNormals. More... | |
virtual | ~OrganizedEdgeFromNormals () |
Destructor for OrganizedEdgeFromNormals. More... | |
void | compute (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const |
Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) and assign point indices for each edge label. More... | |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input normals. More... | |
PointCloudNConstPtr | getInputNormals () const |
Get the input normals. More... | |
void | setHCCannyLowThreshold (const float th) |
Set the low threshold value for high curvature Canny edge detection. More... | |
float | getHCCannyLowThreshold () const |
Get the low threshold value for high curvature Canny edge detection. More... | |
void | setHCCannyHighThreshold (const float th) |
Set the high threshold value for high curvature Canny edge detection. More... | |
float | getHCCannyHighThreshold () const |
Get the high threshold value for high curvature Canny edge detection. More... | |
Additional Inherited Members | |
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enum | { EDGELABEL_NAN_BOUNDARY =1, EDGELABEL_OCCLUDING =2, EDGELABEL_OCCLUDED =4, EDGELABEL_HIGH_CURVATURE =8, EDGELABEL_RGB_CANNY =16 } |
typedef boost::shared_ptr< OrganizedEdgeBase< PointT, PointLT > > | Ptr |
typedef boost::shared_ptr< const OrganizedEdgeBase< PointT, PointLT > > | ConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
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static const int | num_of_edgetype_ = 5 |
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void | extractEdges (pcl::PointCloud< PointLT > &labels) const |
Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) More... | |
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void | extractEdges (pcl::PointCloud< PointLT > &labels) const |
Perform the 3D edge detection (edges from depth discontinuities) and assign point indices for each edge label. More... | |
void | assignLabelIndices (pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const |
Assign point indices for each edge label. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
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void | extractEdges (pcl::PointCloud< PointLT > &labels) const |
Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) More... | |
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float | th_rgb_canny_low_ |
The low threshold value for RGB Canny edge detection (default: 40.0) More... | |
float | th_rgb_canny_high_ |
The high threshold value for RGB Canny edge detection (default: 100.0) More... | |
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float | th_depth_discon_ |
The tolerance in meters for difference in depth values between neighboring points (The value is set for 1 meter and is adapted with respect to depth value linearly. More... | |
int | max_search_neighbors_ |
The max search distance for deciding occluding and occluded edges. More... | |
int | detecting_edge_types_ |
The bit encoded value that represents edge types to detect. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
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PointCloudNConstPtr | normals_ |
A pointer to the input normals. More... | |
float | th_hc_canny_low_ |
The low threshold value for high curvature Canny edge detection (default: 0.4) More... | |
float | th_hc_canny_high_ |
The high threshold value for high curvature Canny edge detection (default: 1.1) More... | |
Definition at line 379 of file organized_edge_detection.h.
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inline |
Constructor for OrganizedEdgeFromRGBNormals.
Definition at line 406 of file organized_edge_detection.h.
References pcl::OrganizedEdgeBase< PointT, PointLT >::EDGELABEL_HIGH_CURVATURE, pcl::OrganizedEdgeBase< PointT, PointLT >::EDGELABEL_NAN_BOUNDARY, pcl::OrganizedEdgeBase< PointT, PointLT >::EDGELABEL_OCCLUDED, pcl::OrganizedEdgeBase< PointT, PointLT >::EDGELABEL_OCCLUDING, pcl::OrganizedEdgeBase< PointT, PointLT >::EDGELABEL_RGB_CANNY, and pcl::OrganizedEdgeBase< PointT, PointLT >::setEdgeType().
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inlinevirtual |
Destructor for OrganizedEdgeFromRGBNormals.
Definition at line 415 of file organized_edge_detection.h.
References pcl::OrganizedEdgeBase< PointT, PointLT >::compute().
void pcl::OrganizedEdgeFromRGBNormals< PointT, PointNT, PointLT >::compute | ( | pcl::PointCloud< PointLT > & | labels, |
std::vector< pcl::PointIndices > & | label_indices | ||
) | const |
Perform the 3D edge detection (edges from depth discontinuities, RGB Canny edge, and high curvature regions) and assign point indices for each edge label.
[out] | labels | a PointCloud of edge labels |
[out] | label_indices | a vector of PointIndices corresponding to each edge label |
Definition at line 334 of file organized_edge_detection.hpp.
References pcl::PointCloud< PointT >::height, pcl::Label::label, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.