ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism. More...
#include <pcl/segmentation/extract_polygonal_prism_data.h>
Public Types |
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| using | PointCloud = pcl::PointCloud< PointT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
 Public Types inherited from pcl::PCLBase< PointT > |
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| using | PointCloud = pcl::PointCloud< PointT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions |
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| ExtractPolygonalPrismData () | |
| Empty constructor. More... |
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| void | setInputPlanarHull (const PointCloudConstPtr &hull) |
| Provide a pointer to the input planar hull dataset. More... |
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| PointCloudConstPtr | getInputPlanarHull () const |
| Get a pointer the input planar hull dataset. More... |
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| void | setHeightLimits (double height_min, double height_max) |
| Set the height limits. More... |
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| void | getHeightLimits (double &height_min, double &height_max) const |
| Get the height limits (min/max) as set by the user. More... |
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| void | setViewPoint (float vpx, float vpy, float vpz) |
| Set the viewpoint. More... |
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| void | getViewPoint (float &vpx, float &vpy, float &vpz) const |
| Get the viewpoint. More... |
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| void | segment (PointIndices &output) |
| Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()> More... |
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| Public Member Functions inherited from pcl::PCLBase< PointT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| virtual std::string | getClassName () const |
| Class getName method. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes |
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| PointCloudConstPtr | planar_hull_ |
| A pointer to the input planar hull dataset. More... |
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| int | min_pts_hull_ |
| The minimum number of points needed on the convex hull. More... |
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| double | height_limit_min_ |
| The minimum allowed height (distance to the model) a point will be considered from. More... |
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| double | height_limit_max_ |
| The maximum allowed height (distance to the model) a point will be considered from. More... |
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| float | vpx_ |
| Values describing the data acquisition viewpoint. More... |
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| float | vpy_ |
| float | vpz_ |
| Protected Attributes inherited from pcl::PCLBase< PointT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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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:
Definition at line 102 of file extract_polygonal_prism_data.h.
Member Typedef Documentation
PointCloud
| using pcl::ExtractPolygonalPrismData< PointT >::PointCloud = pcl::PointCloud<PointT> |
Definition at line 110 of file extract_polygonal_prism_data.h.
PointCloudConstPtr
| using pcl::ExtractPolygonalPrismData< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 112 of file extract_polygonal_prism_data.h.
PointCloudPtr
| using pcl::ExtractPolygonalPrismData< PointT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 111 of file extract_polygonal_prism_data.h.
PointIndicesConstPtr
| using pcl::ExtractPolygonalPrismData< PointT >::PointIndicesConstPtr = PointIndices::ConstPtr |
Definition at line 115 of file extract_polygonal_prism_data.h.
PointIndicesPtr
| using pcl::ExtractPolygonalPrismData< PointT >::PointIndicesPtr = PointIndices::Ptr |
Definition at line 114 of file extract_polygonal_prism_data.h.
Constructor & Destructor Documentation
ExtractPolygonalPrismData()
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inline |
Empty constructor.
Definition at line 118 of file extract_polygonal_prism_data.h.
Member Function Documentation
getClassName()
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inlineprotectedvirtual |
Class getName method.
Definition at line 209 of file extract_polygonal_prism_data.h.
getHeightLimits()
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inline |
Get the height limits (min/max) as set by the user.
The default values are -FLT_MAX, FLT_MAX.
- Parameters
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[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.
References pcl::ExtractPolygonalPrismData< PointT >::height_limit_max_, and pcl::ExtractPolygonalPrismData< PointT >::height_limit_min_.
getInputPlanarHull()
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inline |
Get a pointer the input planar hull dataset.
Definition at line 132 of file extract_polygonal_prism_data.h.
References pcl::ExtractPolygonalPrismData< PointT >::planar_hull_.
getViewPoint()
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inline |
Get the viewpoint.
Definition at line 174 of file extract_polygonal_prism_data.h.
References pcl::ExtractPolygonalPrismData< PointT >::vpx_, pcl::ExtractPolygonalPrismData< PointT >::vpy_, and pcl::ExtractPolygonalPrismData< PointT >::vpz_.
segment()
| void pcl::ExtractPolygonalPrismData< PointT >::segment | ( | pcl::PointIndices & | output | ) |
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
- Parameters
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[out] output the resultant point indices that support the model found (inliers)
Definition at line 149 of file extract_polygonal_prism_data.hpp.
References pcl::computeMeanAndCovarianceMatrix(), pcl::geometry::distance(), pcl::eigen33(), pcl::PointIndices::header, pcl::PointIndices::indices, pcl::isXYPointIn2DXYPolygon(), pcl::pointToPlaneDistanceSigned(), pcl::SampleConsensusModelPlane< PointT >::projectPoints(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::size().
setHeightLimits()
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inline |
Set the height limits.
All points having distances to the model outside this interval will be discarded.
- Parameters
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[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.
References pcl::ExtractPolygonalPrismData< PointT >::height_limit_max_, and pcl::ExtractPolygonalPrismData< PointT >::height_limit_min_.
setInputPlanarHull()
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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
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[in] hull the input planar hull dataset
Definition at line 128 of file extract_polygonal_prism_data.h.
References pcl::ExtractPolygonalPrismData< PointT >::planar_hull_.
setViewPoint()
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inline |
Set the viewpoint.
- Parameters
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[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.
References pcl::ExtractPolygonalPrismData< PointT >::vpx_, pcl::ExtractPolygonalPrismData< PointT >::vpy_, and pcl::ExtractPolygonalPrismData< PointT >::vpz_.
Member Data Documentation
height_limit_max_
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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.
Referenced by pcl::ExtractPolygonalPrismData< PointT >::getHeightLimits(), and pcl::ExtractPolygonalPrismData< PointT >::setHeightLimits().
height_limit_min_
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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.
Referenced by pcl::ExtractPolygonalPrismData< PointT >::getHeightLimits(), and pcl::ExtractPolygonalPrismData< PointT >::setHeightLimits().
min_pts_hull_
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protected |
The minimum number of points needed on the convex hull.
Definition at line 192 of file extract_polygonal_prism_data.h.
planar_hull_
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protected |
A pointer to the input planar hull dataset.
Definition at line 189 of file extract_polygonal_prism_data.h.
Referenced by pcl::ExtractPolygonalPrismData< PointT >::getInputPlanarHull(), and pcl::ExtractPolygonalPrismData< PointT >::setInputPlanarHull().
vpx_
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protected |
Values describing the data acquisition viewpoint.
Default: 0,0,0.
Definition at line 205 of file extract_polygonal_prism_data.h.
Referenced by pcl::ExtractPolygonalPrismData< PointT >::getViewPoint(), and pcl::ExtractPolygonalPrismData< PointT >::setViewPoint().
vpy_
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protected |
Definition at line 205 of file extract_polygonal_prism_data.h.
Referenced by pcl::ExtractPolygonalPrismData< PointT >::getViewPoint(), and pcl::ExtractPolygonalPrismData< PointT >::setViewPoint().
vpz_
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protected |
Definition at line 205 of file extract_polygonal_prism_data.h.
Referenced by pcl::ExtractPolygonalPrismData< PointT >::getViewPoint(), and pcl::ExtractPolygonalPrismData< PointT >::setViewPoint().
The documentation for this class was generated from the following files:
- pcl/segmentation/extract_polygonal_prism_data.h
- pcl/segmentation/impl/extract_polygonal_prism_data.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_extract_polygonal_prism_data.html
