#include <pcl/features/organized_edge_detection.h>

Inheritance diagram for pcl::OrganizedEdgeFromRGB< PointT, PointLT >:

Public Member Functions
	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...

Public Member Functions inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
	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...

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...

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...

Protected Member Functions
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 Attributes
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...

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 }

typedef boost::shared_ptr< OrganizedEdgeBase< PointT, PointLT > >	Ptr

typedef boost::shared_ptr< const OrganizedEdgeBase< PointT, PointLT > >	ConstPtr

Public Types inherited from pcl::PCLBase< PointT >
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

Static Public Attributes inherited from pcl::OrganizedEdgeBase< PointT, PointLT >
static const int	num_of_edgetype_ = 5

Detailed Description

template<typename PointT, typename PointLT>
class pcl::OrganizedEdgeFromRGB< PointT, PointLT >

Definition at line 183 of file organized_edge_detection.h.

Constructor & Destructor Documentation

◆ OrganizedEdgeFromRGB()

template<typename PointT , typename PointLT >

pcl::OrganizedEdgeFromRGB< PointT, PointLT >::OrganizedEdgeFromRGB ( )

inline

Constructor for OrganizedEdgeFromRGB.

Definition at line 205 of file organized_edge_detection.h.

References 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().

◆ ~OrganizedEdgeFromRGB()

template<typename PointT , typename PointLT >

virtual pcl::OrganizedEdgeFromRGB< PointT, PointLT >::~OrganizedEdgeFromRGB ( )

inlinevirtual

Destructor for OrganizedEdgeFromRGB.

Definition at line 215 of file organized_edge_detection.h.

References pcl::OrganizedEdgeBase< PointT, PointLT >::compute().

Member Function Documentation

◆ compute()

template<typename PointT , typename PointLT >

void pcl::OrganizedEdgeFromRGB< PointT, PointLT >::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.

Parameters

[out]	labels	a PointCloud of edge labels
[out]	label_indices	a vector of PointIndices corresponding to each edge label

Definition at line 228 of file organized_edge_detection.hpp.

References pcl::PointCloud< PointT >::height, pcl::Label::label, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

◆ extractEdges()

template<typename PointT , typename PointLT >

void pcl::OrganizedEdgeFromRGB< PointT, PointLT >::extractEdges ( pcl::PointCloud< PointLT > & labels ) const

protected

Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge)

Parameters

[out] labels a PointCloud of edge labels

Definition at line 244 of file organized_edge_detection.hpp.

References pcl::Edge< PointInT, PointOutT >::detectEdgeCanny(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), pcl::Edge< PointInT, PointOutT >::setHysteresisThresholdHigh(), pcl::Edge< PointInT, PointOutT >::setHysteresisThresholdLow(), pcl::Edge< PointInT, PointOutT >::setInputCloud(), and pcl::PointCloud< PointT >::width.

◆ getRGBCannyHighThreshold()

template<typename PointT , typename PointLT >

float pcl::OrganizedEdgeFromRGB< PointT, PointLT >::getRGBCannyHighThreshold ( ) const

inline

Get the high threshold value for RGB Canny edge detection.

Definition at line 249 of file organized_edge_detection.h.

References pcl::OrganizedEdgeBase< PointT, PointLT >::extractEdges().

◆ getRGBCannyLowThreshold()

template<typename PointT , typename PointLT >

float pcl::OrganizedEdgeFromRGB< PointT, PointLT >::getRGBCannyLowThreshold ( ) const

inline

Get the low threshold value for RGB Canny edge detection.

Definition at line 235 of file organized_edge_detection.h.

◆ setRGBCannyHighThreshold()

template<typename PointT , typename PointLT >

void pcl::OrganizedEdgeFromRGB< PointT, PointLT >::setRGBCannyHighThreshold ( const float th )

inline

Set the high threshold value for RGB Canny edge detection.

Definition at line 242 of file organized_edge_detection.h.

◆ setRGBCannyLowThreshold()

template<typename PointT , typename PointLT >

void pcl::OrganizedEdgeFromRGB< PointT, PointLT >::setRGBCannyLowThreshold ( const float th )

inline

Set the low threshold value for RGB Canny edge detection.

Definition at line 228 of file organized_edge_detection.h.

Member Data Documentation

◆ th_rgb_canny_high_

template<typename PointT , typename PointLT >

float pcl::OrganizedEdgeFromRGB< PointT, PointLT >::th_rgb_canny_high_

protected

The high threshold value for RGB Canny edge detection (default: 100.0)

Definition at line 265 of file organized_edge_detection.h.

◆ th_rgb_canny_low_

template<typename PointT , typename PointLT >

float pcl::OrganizedEdgeFromRGB< PointT, PointLT >::th_rgb_canny_low_

protected

The low threshold value for RGB Canny edge detection (default: 40.0)

Definition at line 262 of file organized_edge_detection.h.

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

/build/pcl-qv3n_B/pcl-1.8.1+dfsg1/features/include/pcl/features/organized_edge_detection.h
/build/pcl-qv3n_B/pcl-1.8.1+dfsg1/features/include/pcl/features/impl/organized_edge_detection.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename PointT, typename PointLT> class pcl::OrganizedEdgeFromRGB< PointT, PointLT >

Constructor & Destructor Documentation

◆ OrganizedEdgeFromRGB()

◆ ~OrganizedEdgeFromRGB()

Member Function Documentation

◆ compute()

◆ extractEdges()

◆ getRGBCannyHighThreshold()

◆ getRGBCannyLowThreshold()

◆ setRGBCannyHighThreshold()

◆ setRGBCannyLowThreshold()

Member Data Documentation

◆ th_rgb_canny_high_

◆ th_rgb_canny_low_

template<typename PointT, typename PointLT>
class pcl::OrganizedEdgeFromRGB< PointT, PointLT >