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>

Inheritance diagram for pcl::ExtractPolygonalPrismData< PointT >:

[legend]

List of all members.

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) const
	Get the height limits (min/max) as set by the user. The default values are -FLT_MAX, FLT_MAX.
PointCloudConstPtr	getInputPlanarHull () const
	Get a pointer the input planar hull dataset.
void	getViewPoint (float &vpx, float &vpy, float &vpz) const
	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_

Detailed Description

template<typename PointT>
class pcl::ExtractPolygonalPrismData< PointT >

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).

Example usage:

 {.cpp}
 double z_min = 0., z_max = 0.05; // we want the points above the plane, no farther than 5 cm from the surface
 pcl::PointCloud<pcl::PointXYZ>::Ptr hull_points (new pcl::PointCloud<pcl::PointXYZ> ());
 pcl::ConvexHull<pcl::PointXYZ> hull;
 // hull.setDimension (2); // not necessarily needed, but we need to check the dimensionality of the output
 hull.setInputCloud (cloud);
 hull.reconstruct (hull_points);
 if (hull.getDimension () == 2)
 {
   pcl::ExtractPolygonalPrismData<pcl::PointXYZ> prism;
   prism.setInputCloud (point_cloud);
   prism.setInputPlanarHull (hull_points);
   prism.setHeightLimits (z_min, z_max);
   prism.segment (cloud_indices);
 }
 else
  PCL_ERROR ("The input cloud does not represent a planar surface.\n");

Author:: Radu Bogdan Rusu

Definition at line 102 of file extract_polygonal_prism_data.h.

Member Typedef Documentation

template<typename PointT>

typedef pcl::PointCloud<PointT> pcl::ExtractPolygonalPrismData< PointT >::PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 110 of file extract_polygonal_prism_data.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::ExtractPolygonalPrismData< PointT >::PointCloudConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 112 of file extract_polygonal_prism_data.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::ExtractPolygonalPrismData< PointT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 111 of file extract_polygonal_prism_data.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::ExtractPolygonalPrismData< PointT >::PointIndicesConstPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 115 of file extract_polygonal_prism_data.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::ExtractPolygonalPrismData< PointT >::PointIndicesPtr

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 114 of file extract_polygonal_prism_data.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::ExtractPolygonalPrismData< PointT >::ExtractPolygonalPrismData ( ) [inline]

Empty constructor.

Definition at line 118 of file extract_polygonal_prism_data.h.

Member Function Documentation

template<typename PointT>

virtual std::string pcl::ExtractPolygonalPrismData< PointT >::getClassName ( ) const [inline, protected, virtual]

Class getName method.

Definition at line 209 of file extract_polygonal_prism_data.h.

template<typename PointT>

void pcl::ExtractPolygonalPrismData< PointT >::getHeightLimits	(	double &	height_min,
		double &	height_max
	)		const `[inline]`

Get the height limits (min/max) as set by the user. The default values are -FLT_MAX, FLT_MAX.

Parameters:

[out]	height_min	the resultant min height limit
[out]	height_max	the resultant max height limit

Definition at line 153 of file extract_polygonal_prism_data.h.

template<typename PointT>

PointCloudConstPtr pcl::ExtractPolygonalPrismData< PointT >::getInputPlanarHull ( ) const [inline]

Get a pointer the input planar hull dataset.

Definition at line 132 of file extract_polygonal_prism_data.h.

template<typename PointT>

void pcl::ExtractPolygonalPrismData< PointT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz
	)		const `[inline]`

Get the viewpoint.

Definition at line 174 of file extract_polygonal_prism_data.h.

template<typename PointT >

void pcl::ExtractPolygonalPrismData< PointT >::segment ( pcl::PointIndices & output )

Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>

Parameters:

[out] output the resultant point indices that support the model found (inliers)

Definition at line 170 of file extract_polygonal_prism_data.hpp.

template<typename PointT>

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.

Parameters:

[in]	height_min	the minimum allowed distance to the plane model value
[in]	height_max	the maximum allowed distance to the plane model value

Definition at line 141 of file extract_polygonal_prism_data.h.

template<typename PointT>

void pcl::ExtractPolygonalPrismData< PointT >::setInputPlanarHull ( const PointCloudConstPtr & hull ) [inline]

Provide a pointer to the input planar hull dataset.

Note:: Please see the example in the class description for how to obtain this.

Parameters:

[in] hull the input planar hull dataset

Definition at line 128 of file extract_polygonal_prism_data.h.

template<typename PointT>

void pcl::ExtractPolygonalPrismData< PointT >::setViewPoint	(	float	vpx,
		float	vpy,
		float	vpz
	)		`[inline]`

Set the viewpoint.

Parameters:

[in]	vpx	the X coordinate of the viewpoint
[in]	vpy	the Y coordinate of the viewpoint
[in]	vpz	the Z coordinate of the viewpoint

Definition at line 165 of file extract_polygonal_prism_data.h.

Member Data Documentation

template<typename PointT>

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 202 of file extract_polygonal_prism_data.h.

template<typename PointT>

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 197 of file extract_polygonal_prism_data.h.

template<typename PointT>

int pcl::ExtractPolygonalPrismData< PointT >::min_pts_hull_ [protected]

The minimum number of points needed on the convex hull.

Definition at line 192 of file extract_polygonal_prism_data.h.

template<typename PointT>

PointCloudConstPtr pcl::ExtractPolygonalPrismData< PointT >::planar_hull_ [protected]

A pointer to the input planar hull dataset.

Definition at line 189 of file extract_polygonal_prism_data.h.

template<typename PointT>

float pcl::ExtractPolygonalPrismData< PointT >::vpx_ [protected]

Values describing the data acquisition viewpoint. Default: 0,0,0.

Definition at line 205 of file extract_polygonal_prism_data.h.

template<typename PointT>

float pcl::ExtractPolygonalPrismData< PointT >::vpy_ [protected]

Definition at line 205 of file extract_polygonal_prism_data.h.

template<typename PointT>

float pcl::ExtractPolygonalPrismData< PointT >::vpz_ [protected]

Definition at line 205 of file extract_polygonal_prism_data.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::ExtractPolygonalPrismData< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::ExtractPolygonalPrismData< PointT >