Filter points that lie inside or outside a 3D closed surface or 2D closed polygon, as generated by the ConvexHull or ConcaveHull classes. More...

#include <crop_hull.h>

Inheritance diagram for pcl::CropHull< PointT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const CropHull< PointT > >	ConstPtr
typedef boost::shared_ptr < CropHull< PointT > >	Ptr
Public Member Functions
	CropHull ()
	Empty Constructor.
PointCloudPtr	getHullCloud () const
	Get the point cloud that the hull indices refer to.
std::vector< Vertices >	getHullIndices () const
	Get the vertices of the hull used to filter points.
void	setCropOutside (bool crop_outside)
	Remove points outside the hull (default), or those inside the hull.
void	setDim (int dim)
	Set the dimensionality of the hull to be used. This should be set to correspond to the dimensionality of the convex/concave hull produced by the pcl::ConvexHull and pcl::ConcaveHull classes.
void	setHullCloud (PointCloudPtr points)
	Set the point cloud that the hull indices refer to.
void	setHullIndices (const std::vector< Vertices > &polygons)
	Set the vertices of the hull used to filter points.
Protected Member Functions
void	applyFilter (PointCloud &output)
	Filter the input points using the 2D or 3D polygon hull.
void	applyFilter (std::vector< int > &indices)
	Filter the input points using the 2D or 3D polygon hull.
Private Types
typedef Filter< PointT > ::PointCloud	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Private Member Functions
template<unsigned PlaneDim1, unsigned PlaneDim2>
void	applyFilter2D (PointCloud &output)
	Apply the two-dimensional hull filter. All points are assumed to lie in the same plane as the 2D hull, an axis-aligned 2D coordinate system using the two dimensions specified (PlaneDim1, PlaneDim2) is used for calculations.
template<unsigned PlaneDim1, unsigned PlaneDim2>
void	applyFilter2D (std::vector< int > &indices)
	Apply the two-dimensional hull filter. All points are assumed to lie in the same plane as the 2D hull, an axis-aligned 2D coordinate system using the two dimensions specified (PlaneDim1, PlaneDim2) is used for calculations.
void	applyFilter3D (PointCloud &output)
	Apply the three-dimensional hull filter. Polygon-ray crossings are used for three rays cast from each point being tested, and a majority vote of the resulting polygon-crossings is used to decide whether the point lies inside or outside the hull.
void	applyFilter3D (std::vector< int > &indices)
	Apply the three-dimensional hull filter. Polygon-ray crossings are used for three rays cast from each point being tested, and a majority vote of the resulting polygon-crossings is used to decide whether the point lies inside or outside the hull.
Eigen::Vector3f	getHullCloudRange ()
	Return the size of the hull point cloud in line with coordinate axes. This is used to choose the 2D projection to use when cropping to a 2d polygon.
Static Private Member Functions
template<unsigned PlaneDim1, unsigned PlaneDim2>
static bool	isPointIn2DPolyWithVertIndices (const PointT &point, const Vertices &verts, const PointCloud &cloud)
	Test an individual point against a 2D polygon. PlaneDim1 and PlaneDim2 specify the x/y/z coordinate axes to use.
static bool	rayTriangleIntersect (const PointT &point, const Eigen::Vector3f &ray, const Vertices &verts, const PointCloud &cloud)
	Does a ray cast from a point intersect with an arbitrary triangle in 3D? See: http://softsurfer.com/Archive/algorithm_0105/algorithm_0105.htm#intersect_RayTriangle()
Private Attributes
bool	crop_outside_
	If true, the filter will remove points outside the hull. If false, those inside will be removed.
int	dim_
	The dimensionality of the hull to be used.
PointCloudPtr	hull_cloud_
	The point cloud that the hull indices refer to.
std::vector< pcl::Vertices >	hull_polygons_
	The vertices of the hull used to filter points.

Detailed Description

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

Filter points that lie inside or outside a 3D closed surface or 2D closed polygon, as generated by the ConvexHull or ConcaveHull classes.

Author:: James Crosby

Definition at line 53 of file crop_hull.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const CropHull<PointT> > pcl::CropHull< PointT >::ConstPtr

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 66 of file crop_hull.h.

template<typename PointT>

typedef Filter<PointT>::PointCloud pcl::CropHull< PointT >::PointCloud [private]

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 59 of file crop_hull.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::CropHull< PointT >::PointCloudConstPtr [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 61 of file crop_hull.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::CropHull< PointT >::PointCloudPtr [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 60 of file crop_hull.h.

template<typename PointT>

typedef boost::shared_ptr< CropHull<PointT> > pcl::CropHull< PointT >::Ptr

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 65 of file crop_hull.h.

Constructor & Destructor Documentation

template<typename PointT>

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

Empty Constructor.

Definition at line 69 of file crop_hull.h.

Member Function Documentation

template<typename PointT >

void pcl::CropHull< PointT >::applyFilter ( PointCloud & output ) [protected, virtual]

Filter the input points using the 2D or 3D polygon hull.

Parameters:

[out] output The set of points that passed the filter

Implements pcl::Filter< PointT >.

Definition at line 45 of file crop_hull.hpp.

template<typename PointT >

void pcl::CropHull< PointT >::applyFilter ( std::vector< int > & indices ) [protected, virtual]

Filter the input points using the 2D or 3D polygon hull.

Parameters:

[out] indices the indices of the set of points that passed the filter.

Implements pcl::FilterIndices< PointT >.

Definition at line 70 of file crop_hull.hpp.

template<typename PointT >

template<unsigned PlaneDim1, unsigned PlaneDim2>

void pcl::CropHull< PointT >::applyFilter2D ( PointCloud & output ) [private]

Apply the two-dimensional hull filter. All points are assumed to lie in the same plane as the 2D hull, an axis-aligned 2D coordinate system using the two dimensions specified (PlaneDim1, PlaneDim2) is used for calculations.

Parameters:

[out] output The set of points that pass the 2D polygon filter.

Definition at line 122 of file crop_hull.hpp.

template<typename PointT >

template<unsigned PlaneDim1, unsigned PlaneDim2>

void pcl::CropHull< PointT >::applyFilter2D ( std::vector< int > & indices ) [private]

Apply the two-dimensional hull filter. All points are assumed to lie in the same plane as the 2D hull, an axis-aligned 2D coordinate system using the two dimensions specified (PlaneDim1, PlaneDim2) is used for calculations.

Parameters:

[out] indices The indices of the set of points that pass the 2D polygon filter.

Definition at line 151 of file crop_hull.hpp.

template<typename PointT >

void pcl::CropHull< PointT >::applyFilter3D ( PointCloud & output ) [private]

Apply the three-dimensional hull filter. Polygon-ray crossings are used for three rays cast from each point being tested, and a majority vote of the resulting polygon-crossings is used to decide whether the point lies inside or outside the hull.

Parameters:

[out] output The set of points that pass the 3D polygon hull filter.

Definition at line 175 of file crop_hull.hpp.

template<typename PointT >

void pcl::CropHull< PointT >::applyFilter3D ( std::vector< int > & indices ) [private]

Apply the three-dimensional hull filter. Polygon-ray crossings are used for three rays cast from each point being tested, and a majority vote of the resulting polygon-crossings is used to decide whether the point lies inside or outside the hull.

Parameters:

[out] indices The indices of the set of points that pass the 3D polygon hull filter.

Definition at line 211 of file crop_hull.hpp.

template<typename PointT>

PointCloudPtr pcl::CropHull< PointT >::getHullCloud ( ) const [inline]

Get the point cloud that the hull indices refer to.

Definition at line 107 of file crop_hull.h.

template<typename PointT >

Eigen::Vector3f pcl::CropHull< PointT >::getHullCloudRange ( ) [private]

Return the size of the hull point cloud in line with coordinate axes. This is used to choose the 2D projection to use when cropping to a 2d polygon.

Definition at line 95 of file crop_hull.hpp.

template<typename PointT>

std::vector<Vertices> pcl::CropHull< PointT >::getHullIndices ( ) const [inline]

Get the vertices of the hull used to filter points.

Definition at line 91 of file crop_hull.h.

template<typename PointT >

template<unsigned PlaneDim1, unsigned PlaneDim2>

bool pcl::CropHull< PointT >::isPointIn2DPolyWithVertIndices	(	const PointT &	point,
		const Vertices &	verts,
		const PointCloud &	cloud
	)		`[inline, static, private]`

Test an individual point against a 2D polygon. PlaneDim1 and PlaneDim2 specify the x/y/z coordinate axes to use.

Parameters:

[in]	point	Point to test against the polygon.
[in]	verts	Vertex indices of polygon.
[in]	cloud	Cloud from which the vertex indices are drawn.

Definition at line 238 of file crop_hull.hpp.

template<typename PointT >

bool pcl::CropHull< PointT >::rayTriangleIntersect	(	const PointT &	point,
		const Eigen::Vector3f &	ray,
		const Vertices &	verts,
		const PointCloud &	cloud
	)		`[inline, static, private]`

Does a ray cast from a point intersect with an arbitrary triangle in 3D? See: http://softsurfer.com/Archive/algorithm_0105/algorithm_0105.htm#intersect_RayTriangle()

Parameters:

[in]	point	Point from which the ray is cast.
[in]	ray	Vector in direction of ray.
[in]	verts	Indices of vertices making the polygon.
[in]	cloud	Cloud from which the vertex indices are drawn.

Definition at line 280 of file crop_hull.hpp.

template<typename PointT>

void pcl::CropHull< PointT >::setCropOutside ( bool crop_outside ) [inline]

Remove points outside the hull (default), or those inside the hull.

Parameters:

[in] crop_outside If true, the filter will remove points outside the hull. If false, those inside will be removed.

Definition at line 129 of file crop_hull.h.

template<typename PointT>

void pcl::CropHull< PointT >::setDim ( int dim ) [inline]

Set the dimensionality of the hull to be used. This should be set to correspond to the dimensionality of the convex/concave hull produced by the pcl::ConvexHull and pcl::ConcaveHull classes.

Parameters:

[in] dim Dimensionailty of the hull used to filter points.

Definition at line 119 of file crop_hull.h.

template<typename PointT>

void pcl::CropHull< PointT >::setHullCloud ( PointCloudPtr points ) [inline]

Set the point cloud that the hull indices refer to.

Parameters:

[in] points the point cloud that the hull indices refer to

Definition at line 100 of file crop_hull.h.

template<typename PointT>

void pcl::CropHull< PointT >::setHullIndices ( const std::vector< Vertices > & polygons ) [inline]

Set the vertices of the hull used to filter points.

Parameters:

[in] polygons Vector of polygons (Vertices structures) forming the hull used for filtering points.

Definition at line 83 of file crop_hull.h.

Member Data Documentation

template<typename PointT>

bool pcl::CropHull< PointT >::crop_outside_ [private]

If true, the filter will remove points outside the hull. If false, those inside will be removed.

Definition at line 234 of file crop_hull.h.

template<typename PointT>

int pcl::CropHull< PointT >::dim_ [private]

The dimensionality of the hull to be used.

Definition at line 229 of file crop_hull.h.

template<typename PointT>

PointCloudPtr pcl::CropHull< PointT >::hull_cloud_ [private]

The point cloud that the hull indices refer to.

Definition at line 226 of file crop_hull.h.

template<typename PointT>

std::vector<pcl::Vertices> pcl::CropHull< PointT >::hull_polygons_ [private]

The vertices of the hull used to filter points.

Definition at line 223 of file crop_hull.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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