ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it. More...
#include <extract_polygonal_prism_data.h>
Public Types | |
| typedef pcl::PointCloud< PointT > | PointCloud |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointIndices::ConstPtr | PointIndicesConstPtr |
| typedef PointIndices::Ptr | PointIndicesPtr |
Public Member Functions | |
| ExtractPolygonalPrismData () | |
| Empty constructor. | |
| void | getHeightLimits (double &height_min, double &height_max) |
| Get the height limits (min/max) as set by the user. The default values are -FLT_MAX, FLT_MAX. | |
| PointCloudConstPtr | getInputPlanarHull () |
| Get a pointer the input planar hull dataset. | |
| void | getViewPoint (float &vpx, float &vpy, float &vpz) |
| Get the viewpoint. | |
| void | segment (PointIndices &output) |
| Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()> | |
| void | setHeightLimits (double height_min, double height_max) |
| Set the height limits. All points having distances to the model outside this interval will be discarded. | |
| void | setInputPlanarHull (const PointCloudConstPtr &hull) |
| Provide a pointer to the input planar hull dataset. | |
| void | setViewPoint (float vpx, float vpy, float vpz) |
| Set the viewpoint. | |
Protected Member Functions | |
| virtual std::string | getClassName () const |
| Class getName method. | |
Protected Attributes | |
| double | height_limit_max_ |
| The maximum allowed height (distance to the model) a point will be considered from. | |
| double | height_limit_min_ |
| The minimum allowed height (distance to the model) a point will be considered from. | |
| int | min_pts_hull_ |
| The minimum number of points needed on the convex hull. | |
| PointCloudConstPtr | planar_hull_ |
| A pointer to the input planar hull dataset. | |
| float | vpx_ |
| Values describing the data acquisition viewpoint. Default: 0,0,0. | |
| float | vpy_ |
| float | vpz_ |
ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it.
An example of its usage is to extract the data lying within a set of 3D boundaries (e.g., objects supported by a plane).
Definition at line 75 of file extract_polygonal_prism_data.h.
| typedef pcl::PointCloud<PointT> pcl::ExtractPolygonalPrismData< PointT >::PointCloud |
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 83 of file extract_polygonal_prism_data.h.
| typedef PointCloud::ConstPtr pcl::ExtractPolygonalPrismData< PointT >::PointCloudConstPtr |
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 85 of file extract_polygonal_prism_data.h.
| typedef PointCloud::Ptr pcl::ExtractPolygonalPrismData< PointT >::PointCloudPtr |
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 84 of file extract_polygonal_prism_data.h.
| typedef PointIndices::ConstPtr pcl::ExtractPolygonalPrismData< PointT >::PointIndicesConstPtr |
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 88 of file extract_polygonal_prism_data.h.
| typedef PointIndices::Ptr pcl::ExtractPolygonalPrismData< PointT >::PointIndicesPtr |
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 87 of file extract_polygonal_prism_data.h.
| pcl::ExtractPolygonalPrismData< PointT >::ExtractPolygonalPrismData | ( | ) | [inline] |
Empty constructor.
Definition at line 91 of file extract_polygonal_prism_data.h.
| virtual std::string pcl::ExtractPolygonalPrismData< PointT >::getClassName | ( | ) | const [inline, protected, virtual] |
Class getName method.
Definition at line 166 of file extract_polygonal_prism_data.h.
| void pcl::ExtractPolygonalPrismData< PointT >::getHeightLimits | ( | double & | height_min, | |
| double & | height_max | |||
| ) | [inline] |
Get the height limits (min/max) as set by the user. The default values are -FLT_MAX, FLT_MAX.
Definition at line 116 of file extract_polygonal_prism_data.h.
| PointCloudConstPtr pcl::ExtractPolygonalPrismData< PointT >::getInputPlanarHull | ( | ) | [inline] |
Get a pointer the input planar hull dataset.
Definition at line 101 of file extract_polygonal_prism_data.h.
| void pcl::ExtractPolygonalPrismData< PointT >::getViewPoint | ( | float & | vpx, | |
| float & | vpy, | |||
| float & | vpz | |||
| ) | [inline] |
Get the viewpoint.
Definition at line 137 of file extract_polygonal_prism_data.h.
| void pcl::ExtractPolygonalPrismData< PointT >::segment | ( | pcl::PointIndices & | output | ) | [inline] |
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
| output | the resultant point indices that support the model found (inliers) |
Definition at line 129 of file extract_polygonal_prism_data.hpp.
| void pcl::ExtractPolygonalPrismData< PointT >::setHeightLimits | ( | double | height_min, | |
| double | height_max | |||
| ) | [inline] |
Set the height limits. All points having distances to the model outside this interval will be discarded.
| height_min | the minimum allowed distance to the plane model value | |
| height_max | the maximum allowed distance to the plane model value |
Definition at line 108 of file extract_polygonal_prism_data.h.
| void pcl::ExtractPolygonalPrismData< PointT >::setInputPlanarHull | ( | const PointCloudConstPtr & | hull | ) | [inline] |
Provide a pointer to the input planar hull dataset.
| hull | the input planar hull dataset |
Definition at line 98 of file extract_polygonal_prism_data.h.
| void pcl::ExtractPolygonalPrismData< PointT >::setViewPoint | ( | float | vpx, | |
| float | vpy, | |||
| float | vpz | |||
| ) | [inline] |
Set the viewpoint.
| vpx | the X coordinate of the viewpoint | |
| vpy | the Y coordinate of the viewpoint | |
| vpz | the Z coordinate of the viewpoint |
Definition at line 128 of file extract_polygonal_prism_data.h.
double pcl::ExtractPolygonalPrismData< PointT >::height_limit_max_ [protected] |
The maximum allowed height (distance to the model) a point will be considered from.
Definition at line 160 of file extract_polygonal_prism_data.h.
double pcl::ExtractPolygonalPrismData< PointT >::height_limit_min_ [protected] |
The minimum allowed height (distance to the model) a point will be considered from.
Definition at line 157 of file extract_polygonal_prism_data.h.
int pcl::ExtractPolygonalPrismData< PointT >::min_pts_hull_ [protected] |
The minimum number of points needed on the convex hull.
Definition at line 154 of file extract_polygonal_prism_data.h.
PointCloudConstPtr pcl::ExtractPolygonalPrismData< PointT >::planar_hull_ [protected] |
A pointer to the input planar hull dataset.
Definition at line 151 of file extract_polygonal_prism_data.h.
float pcl::ExtractPolygonalPrismData< PointT >::vpx_ [protected] |
Values describing the data acquisition viewpoint. Default: 0,0,0.
Definition at line 163 of file extract_polygonal_prism_data.h.
float pcl::ExtractPolygonalPrismData< PointT >::vpy_ [protected] |
Definition at line 163 of file extract_polygonal_prism_data.h.
float pcl::ExtractPolygonalPrismData< PointT >::vpz_ [protected] |
Definition at line 163 of file extract_polygonal_prism_data.h.
