40#include <pcl/segmentation/segment_differences.h>
42#include <pcl/common/io.h>
43#include <pcl/common/point_tests.h>
44#include <pcl/search/organized.h>
45#include <pcl/search/kdtree.h>
49template <
typename Po
intT>
void
72 PCL_WARN (
"No neighbor found for point %lu (%f %f %f)!\n", i,
src[i].x,
src[i].y,
src[i].z);
90template <
typename Po
intT>
void
93 output.header = input_->header;
103 if (target_->points.empty ())
112 if (target_->isOrganized ())
118 tree_->setInputCloud (target_);
125#define PCL_INSTANTIATE_SegmentDifferences(T) template class PCL_EXPORTS pcl::SegmentDifferences<T>;
126#define PCL_INSTANTIATE_getPointCloudDifference(T) template PCL_EXPORTS void pcl::getPointCloudDifference<T>(const pcl::PointCloud<T> &, double, const typename pcl::search::Search<T>::Ptr &, pcl::PointCloud<T> &);
Iterator class for point clouds with or without given indices.
std::size_t size() const
Size of the range the iterator is going through.
PointCloud represents the base class in PCL for storing collections of 3D points.
void segment(PointCloud &output)
Segment differences between two input point clouds.
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
OrganizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds.
shared_ptr< pcl::search::Search< PointT > > Ptr
void copyPointCloud(const pcl::PointCloud< PointInT > &cloud_in, pcl::PointCloud< PointOutT > &cloud_out)
Copy all the fields from a given point cloud into a new point cloud.
void getPointCloudDifference(const pcl::PointCloud< PointT > &src, double threshold, const typename pcl::search::Search< PointT >::Ptr &tree, pcl::PointCloud< PointT > &output)
Obtain the difference between two aligned point clouds as another point cloud, given a distance thres...
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
IndicesAllocator<> Indices
Type used for indices in PCL.