Point Cloud Library (PCL)
1.11.1
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40 #include <pcl/pcl_base.h>
41 #include <pcl/PointIndices.h>
56 template <
typename Po
intT,
typename Po
intLT>
68 using Ptr = shared_ptr<OrganizedEdgeBase<PointT, PointLT> >;
69 using ConstPtr = shared_ptr<const OrganizedEdgeBase<PointT, PointLT> >;
182 template <
typename Po
intT,
typename Po
intLT>
268 template <
typename Po
intT,
typename Po
intNT,
typename Po
intLT>
327 inline PointCloudNConstPtr
378 template <
typename Po
intT,
typename Po
intNT,
typename Po
intLT>
428 #ifdef PCL_NO_PRECOMPILE
429 #include <pcl/features/impl/organized_edge_detection.hpp>
void setHCCannyHighThreshold(const float th)
Set the high threshold value for high curvature Canny edge detection.
void setRGBCannyHighThreshold(const float th)
Set the high threshold value for RGB Canny edge detection.
int getMaxSearchNeighbors() const
Get the max search distance for deciding occluding and occluded edges.
typename PointCloud::ConstPtr PointCloudConstPtr
typename PointCloud::Ptr PointCloudPtr
float getHCCannyLowThreshold() const
Get the low threshold value for high curvature Canny edge detection.
float getRGBCannyHighThreshold() const
Get the high threshold value for RGB Canny edge detection.
float th_rgb_canny_low_
The low threshold value for RGB Canny edge detection (default: 40.0)
void setRGBCannyLowThreshold(const float th)
Set the low threshold value for RGB Canny edge detection.
@ EDGELABEL_HIGH_CURVATURE
float th_rgb_canny_high_
The high threshold value for RGB Canny edge detection (default: 100.0)
PointCloud represents the base class in PCL for storing collections of 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
float th_hc_canny_high_
The high threshold value for high curvature Canny edge detection (default: 1.1)
OrganizedEdgeFromNormals()
Constructor for OrganizedEdgeFromNormals.
void assignLabelIndices(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Assign point indices for each edge label.
void setHCCannyLowThreshold(const float th)
Set the low threshold value for high curvature Canny edge detection.
~OrganizedEdgeFromRGB()
Destructor for OrganizedEdgeFromRGB.
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 assig...
~OrganizedEdgeFromRGBNormals()
Destructor for OrganizedEdgeFromRGBNormals.
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
int detecting_edge_types_
The bit encoded value that represents edge types to detect.
Neighbor(int dx, int dy, int didx)
void setEdgeType(int edge_types)
Set the detecting edge types.
~OrganizedEdgeFromNormals()
Destructor for OrganizedEdgeFromNormals.
~OrganizedEdgeBase()
Destructor for OrganizedEdgeBase.
float th_depth_discon_
The tolerance in meters for the relative difference in depth values between neighboring points (The d...
void compute(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Perform the 3D edge detection (edges from depth discontinuities)
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 ...
shared_ptr< const OrganizedEdgeBase< PointT, PointLT > > ConstPtr
OrganizedEdgeBase, OrganizedEdgeFromRGB, OrganizedEdgeFromNormals, and OrganizedEdgeFromRGBNormals fi...
float th_hc_canny_low_
The low threshold value for high curvature Canny edge detection (default: 0.4)
void extractEdges(pcl::PointCloud< PointLT > &labels) const
Perform the 3D edge detection (edges from depth discontinuities) and assign point indices for each ed...
void extractEdges(pcl::PointCloud< PointLT > &labels) const
Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge)
float getHCCannyHighThreshold() const
Get the high threshold value for high curvature Canny edge detection.
shared_ptr< PointCloud< PointT > > Ptr
void extractEdges(pcl::PointCloud< PointLT > &labels) const
Perform the 3D edge detection (edges from depth discontinuities and high curvature regions)
void setDepthDisconThreshold(const float th)
Set the tolerance in meters for the relative difference in depth values between neighboring points.
PointCloudNConstPtr getInputNormals() const
Get the input normals.
PointCloudNConstPtr normals_
A pointer to the input normals.
int max_search_neighbors_
The max search distance for deciding occluding and occluded edges.
shared_ptr< const PointCloud< PointT > > ConstPtr
int getEdgeType() const
Get the detecting edge types.
void setMaxSearchNeighbors(const int max_dist)
Set the max search distance for deciding occluding and occluded edges.
OrganizedEdgeFromRGB()
Constructor for OrganizedEdgeFromRGB.
OrganizedEdgeFromRGBNormals()
Constructor for OrganizedEdgeFromRGBNormals.
static const int num_of_edgetype_
float getDepthDisconThreshold() const
Get the tolerance in meters for the relative difference in depth values between neighboring points.
float getRGBCannyLowThreshold() const
Get the low threshold value for RGB Canny edge detection.
OrganizedEdgeBase()
Constructor for OrganizedEdgeBase.
shared_ptr< OrganizedEdgeBase< PointT, PointLT > > Ptr
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 r...