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>

Inheritance diagram for pcl::ExtractPolygonalPrismData< PointT >:

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef boost::shared_ptr < PointIndices >	PointIndicesPtr
typedef boost::shared_ptr < PointIndices const >	PointIndicesConstPtr

Public Member Functions
	ExtractPolygonalPrismData ()
	Empty constructor.
void	setInputPlanarHull (const PointCloudConstPtr &hull)
	Provide a pointer to the input planar hull dataset.
PointCloudConstPtr	getInputPlanarHull () const
	Get a pointer the input planar hull dataset.
void	setHeightLimits (double height_min, double height_max)
	Set the height limits.
void	getHeightLimits (double &height_min, double &height_max) const
	Get the height limits (min/max) as set by the user.
void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.
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 ()>
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
virtual std::string	getClassName () const
	Class getName method.
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
PointCloudConstPtr	planar_hull_
	A pointer to the input planar hull dataset.
int	min_pts_hull_
	The minimum number of points needed on the convex hull.
double	height_limit_min_
	The minimum allowed height (distance to the model) a point will be considered from.
double	height_limit_max_
	The maximum allowed height (distance to the model) a point will be considered from.
float	vpx_
	Values describing the data acquisition viewpoint.
float	vpy_
float	vpz_
Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

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:

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

Definition at line 110 of file extract_polygonal_prism_data.h.

template<typename PointT>

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

Definition at line 112 of file extract_polygonal_prism_data.h.

template<typename PointT>

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

Definition at line 111 of file extract_polygonal_prism_data.h.

template<typename PointT>

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

Definition at line 115 of file extract_polygonal_prism_data.h.

template<typename PointT>

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

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

inlineprotectedvirtual

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.

References pcl::ExtractPolygonalPrismData< PointT >::height_limit_max_, and pcl::ExtractPolygonalPrismData< PointT >::height_limit_min_.

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.

References pcl::ExtractPolygonalPrismData< PointT >::planar_hull_.

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.

References pcl::ExtractPolygonalPrismData< PointT >::vpx_, pcl::ExtractPolygonalPrismData< PointT >::vpy_, and pcl::ExtractPolygonalPrismData< PointT >::vpz_.

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.

References pcl::computeMeanAndCovarianceMatrix(), pcl::eigen33(), pcl::EIGEN_ALIGN16, pcl::PointIndices::header, pcl::PointIndices::indices, pcl::isXYPointIn2DXYPolygon(), pcl::PointCloud< PointT >::points, pcl::pointToPlaneDistanceSigned(), and pcl::SampleConsensusModelPlane< PointT >::projectPoints().

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.

References pcl::ExtractPolygonalPrismData< PointT >::height_limit_max_, and pcl::ExtractPolygonalPrismData< PointT >::height_limit_min_.

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.

References pcl::ExtractPolygonalPrismData< PointT >::planar_hull_.

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.

References pcl::ExtractPolygonalPrismData< PointT >::vpx_, pcl::ExtractPolygonalPrismData< PointT >::vpy_, and pcl::ExtractPolygonalPrismData< PointT >::vpz_.

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.

Referenced by pcl::ExtractPolygonalPrismData< PointT >::getHeightLimits(), and pcl::ExtractPolygonalPrismData< PointT >::setHeightLimits().

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.

Referenced by pcl::ExtractPolygonalPrismData< PointT >::getHeightLimits(), and pcl::ExtractPolygonalPrismData< PointT >::setHeightLimits().

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.

Referenced by pcl::ExtractPolygonalPrismData< PointT >::getInputPlanarHull(), and pcl::ExtractPolygonalPrismData< PointT >::setInputPlanarHull().

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.

Referenced by pcl::ExtractPolygonalPrismData< PointT >::getViewPoint(), and pcl::ExtractPolygonalPrismData< PointT >::setViewPoint().

template<typename PointT>

float pcl::ExtractPolygonalPrismData< PointT >::vpy_

protected

Definition at line 205 of file extract_polygonal_prism_data.h.

Referenced by pcl::ExtractPolygonalPrismData< PointT >::getViewPoint(), and pcl::ExtractPolygonalPrismData< PointT >::setViewPoint().

template<typename PointT>

float pcl::ExtractPolygonalPrismData< PointT >::vpz_

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:

/tmp/buildd/pcl-1.7.2/segmentation/include/pcl/segmentation/extract_polygonal_prism_data.h
/tmp/buildd/pcl-1.7.2/segmentation/include/pcl/segmentation/impl/extract_polygonal_prism_data.hpp

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 >