Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT > Class Template Reference

#include <pcl/features/organized_edge_detection.h>

+ Inheritance diagram for pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >:
+ Collaboration diagram for pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >:

Public Member Functions

 OrganizedEdgeFromNormals ()
 Constructor for OrganizedEdgeFromNormals. More...
 
 ~OrganizedEdgeFromNormals () override=default
 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...
 
- Public Member Functions inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
 OrganizedEdgeBase ()
 Constructor for OrganizedEdgeBase. More...
 
 ~OrganizedEdgeBase () override=default
 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 the relative difference in depth values between neighboring points. More...
 
float getDepthDisconThreshold () const
 Get the tolerance in meters for the relative 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...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()=default
 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr 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 PointToperator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void extractEdges (pcl::PointCloud< PointLT > &labels) const
 Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) More...
 
- Protected Member Functions inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
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...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
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...
 

Protected Attributes

PointCloudNConstPtr normals_
 A pointer to the input normals. More...
 
float th_hc_canny_low_ {0.4f}
 The low threshold value for high curvature Canny edge detection (default: 0.4) More...
 
float th_hc_canny_high_ {1.1f}
 The high threshold value for high curvature Canny edge detection (default: 1.1) More...
 
- Protected Attributes inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
float th_depth_discon_ {0.02f}
 The tolerance in meters for the relative difference in depth values between neighboring points (The default value is set for .02 meters and is adapted with respect to depth value linearly. More...
 
int max_search_neighbors_ {50}
 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...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
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...
 

Additional Inherited Members

- Public Types inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
enum  {
  EDGELABEL_NAN_BOUNDARY =1 , EDGELABEL_OCCLUDING =2 , EDGELABEL_OCCLUDED =4 , EDGELABEL_HIGH_CURVATURE =8 ,
  EDGELABEL_RGB_CANNY =16
}
 
using Ptr = shared_ptr< OrganizedEdgeBase< PointT, PointLT > >
 
using ConstPtr = shared_ptr< const OrganizedEdgeBase< PointT, PointLT > >
 
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 
- Static Public Attributes inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
static const int num_of_edgetype_ = 5
 

Detailed Description

template<typename PointT, typename PointNT, typename PointLT>
class pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >

Definition at line 262 of file organized_edge_detection.h.

Constructor & Destructor Documentation

◆ OrganizedEdgeFromNormals()

template<typename PointT , typename PointNT , typename PointLT >
pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::OrganizedEdgeFromNormals ( )
inline

◆ ~OrganizedEdgeFromNormals()

template<typename PointT , typename PointNT , typename PointLT >
pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::~OrganizedEdgeFromNormals ( )
overridedefault

Destructor for OrganizedEdgeFromNormals.

Member Function Documentation

◆ compute()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::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.

Parameters
[out]labelsa PointCloud of edge labels
[out]label_indicesa vector of PointIndices corresponding to each edge label

Definition at line 274 of file organized_edge_detection.hpp.

References pcl::PointCloud< PointT >::height, pcl::Label::label, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

◆ extractEdges()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::extractEdges ( pcl::PointCloud< PointLT > &  labels) const
protected

◆ getHCCannyHighThreshold()

template<typename PointT , typename PointNT , typename PointLT >
float pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getHCCannyHighThreshold ( ) const
inline

Get the high threshold value for high curvature Canny edge detection.

Definition at line 345 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_high_.

◆ getHCCannyLowThreshold()

template<typename PointT , typename PointNT , typename PointLT >
float pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getHCCannyLowThreshold ( ) const
inline

Get the low threshold value for high curvature Canny edge detection.

Definition at line 331 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_low_.

◆ getInputNormals()

template<typename PointT , typename PointNT , typename PointLT >
PointCloudNConstPtr pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getInputNormals ( ) const
inline

Get the input normals.

Definition at line 317 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::normals_.

◆ setHCCannyHighThreshold()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setHCCannyHighThreshold ( const float  th)
inline

Set the high threshold value for high curvature Canny edge detection.

Definition at line 338 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_high_.

◆ setHCCannyLowThreshold()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setHCCannyLowThreshold ( const float  th)
inline

Set the low threshold value for high curvature Canny edge detection.

Definition at line 324 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_low_.

◆ setInputNormals()

template<typename PointT , typename PointNT , typename PointLT >
void pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setInputNormals ( const PointCloudNConstPtr &  normals)
inline

Provide a pointer to the input normals.

Parameters
[in]normalsthe input normal cloud

Definition at line 310 of file organized_edge_detection.h.

References pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::normals_.

Member Data Documentation

◆ normals_

template<typename PointT , typename PointNT , typename PointLT >
PointCloudNConstPtr pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::normals_
protected

◆ th_hc_canny_high_

template<typename PointT , typename PointNT , typename PointLT >
float pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_high_ {1.1f}
protected

The high threshold value for high curvature Canny edge detection (default: 1.1)

Definition at line 364 of file organized_edge_detection.h.

Referenced by pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getHCCannyHighThreshold(), and pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setHCCannyHighThreshold().

◆ th_hc_canny_low_

template<typename PointT , typename PointNT , typename PointLT >
float pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::th_hc_canny_low_ {0.4f}
protected

The low threshold value for high curvature Canny edge detection (default: 0.4)

Definition at line 361 of file organized_edge_detection.h.

Referenced by pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::getHCCannyLowThreshold(), and pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT >::setHCCannyLowThreshold().


The documentation for this class was generated from the following files: