segment_differences.h

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 * $Id: segment_differences.h 5026 2012-03-12 02:51:44Z rusu $
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#ifndef PCL_SEGMENT_DIFFERENCES_H_
#define PCL_SEGMENT_DIFFERENCES_H_

#include <pcl/pcl_base.h>
#include <pcl/search/pcl_search.h>

namespace pcl
{

  template <typename PointT> 
  void getPointCloudDifference (
      const pcl::PointCloud<PointT> &src, const pcl::PointCloud<PointT> &tgt, 
      double threshold, const boost::shared_ptr<pcl::search::Search<PointT> > &tree,
      pcl::PointCloud<PointT> &output);


  template <typename PointT>
  class SegmentDifferences: public PCLBase<PointT>
  {
    typedef PCLBase<PointT> BasePCLBase;

    public:
      typedef pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      typedef typename pcl::search::Search<PointT> KdTree;
      typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;

      typedef PointIndices::Ptr PointIndicesPtr;
      typedef PointIndices::ConstPtr PointIndicesConstPtr;

      SegmentDifferences () : 
        tree_ (), target_ (), distance_threshold_ (0)
      {};

      inline void 
      setTargetCloud (const PointCloudConstPtr &cloud) { target_ = cloud; }

      inline PointCloudConstPtr const 
      getTargetCloud () { return (target_); }

      inline void 
      setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }

      inline KdTreePtr 
      getSearchMethod () { return (tree_); }

      inline void 
      setDistanceThreshold (double sqr_threshold) { distance_threshold_ = sqr_threshold; }

      inline double 
      getDistanceThreshold () { return (distance_threshold_); }

      void 
      segment (PointCloud &output);

    protected:
      // Members derived from the base class
      using BasePCLBase::input_;
      using BasePCLBase::indices_;
      using BasePCLBase::initCompute;
      using BasePCLBase::deinitCompute;

      KdTreePtr tree_;

      PointCloudConstPtr target_;

      double distance_threshold_;

      virtual std::string 
      getClassName () const { return ("SegmentDifferences"); }
  };
}

#endif  //#ifndef PCL_SEGMENT_DIFFERENCES_H_