#include <pcl/features/organized_edge_detection.h>
Inheritance diagram for pcl::OrganizedEdgeFromRGBNormals< PointT, PointNT, PointLT >:
Public Member Functions | |
| OrganizedEdgeFromRGBNormals () | |
| Constructor for OrganizedEdgeFromRGBNormals. More... | |
| ~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... | |
| Public Member Functions inherited from pcl::OrganizedEdgeFromRGB< PointT, PointLT > | |
| OrganizedEdgeFromRGB () | |
| Constructor for OrganizedEdgeFromRGB. More... | |
| ~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... | |
| Public Member Functions inherited from pcl::OrganizedEdgeBase< PointT, PointLT > | |
| OrganizedEdgeBase () | |
| Constructor for OrganizedEdgeBase. More... | |
| ~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... | |
| Public Member Functions inherited from pcl::PCLBase< PointT > | |
| 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... | |
| const PointCloudConstPtr | 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... | |
| const IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... | |
| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... | |
| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... | |
| Public Member Functions inherited from pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT > | |
| OrganizedEdgeFromNormals () | |
| Constructor for OrganizedEdgeFromNormals. More... | |
| ~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 | |
| 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 |
| Protected Member Functions inherited from pcl::OrganizedEdgeFromRGB< PointT, PointLT > | |
| void | extractEdges (pcl::PointCloud< PointLT > &labels) const |
| Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) 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 Member Functions inherited from pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT > | |
| void | extractEdges (pcl::PointCloud< PointLT > &labels) const |
| Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) More... | |
| Protected Attributes inherited from pcl::OrganizedEdgeFromRGB< PointT, PointLT > | |
| 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... | |
| Protected Attributes inherited from pcl::OrganizedEdgeBase< PointT, PointLT > | |
| 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... | |
| 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... | |
| Protected Attributes inherited from pcl::OrganizedEdgeFromNormals< PointT, PointNT, PointLT > | |
| 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... | |
Detailed Description
template<typename PointT, typename PointNT, typename PointLT>
class pcl::OrganizedEdgeFromRGBNormals< PointT, PointNT, PointLT >
Definition at line 378 of file organized_edge_detection.h.
Constructor & Destructor Documentation
◆ OrganizedEdgeFromRGBNormals()
template<typename PointT , typename PointNT , typename PointLT >
|
inline |
Constructor for OrganizedEdgeFromRGBNormals.
Definition at line 405 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().
◆ ~OrganizedEdgeFromRGBNormals()
template<typename PointT , typename PointNT , typename PointLT >
|
inline |
Destructor for OrganizedEdgeFromRGBNormals.
Definition at line 414 of file organized_edge_detection.h.
Member Function Documentation
◆ compute()
template<typename PointT , typename PointNT , typename PointLT >
| 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.
- Parameters
-
[out] labels a PointCloud of edge labels [out] label_indices a vector of PointIndices corresponding to each edge label
Definition at line 333 of file organized_edge_detection.hpp.
References pcl::PointCloud< PointT >::height, pcl::Label::label, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
The documentation for this class was generated from the following files:
- pcl/features/organized_edge_detection.h
- pcl/features/impl/organized_edge_detection.hpp