Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::ExtractPolygonalPrismData Class Reference

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>

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List of all members.

Public Types

typedef pcl::PointCloud< PointT > PointCloud
typedef PointCloud::Ptr PointCloudPtr
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef PointIndices::Ptr PointIndicesPtr
typedef PointIndices::ConstPtr PointIndicesConstPtr

Public Member Functions

 ExtractPolygonalPrismData ()
 Empty constructor.
void setInputPlanarHull (const PointCloudConstPtr &hull)
 Provide a pointer to the input planar hull dataset.
PointCloudConstPtr getInputPlanarHull ()
 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)
 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)
 Get the viewpoint.
void segment (PointIndices &output)
 Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset.
PointCloudConstPtr const getInputCloud ()
 Get a pointer to the input point cloud dataset.
void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
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.
const PointT & operator[] (size_t pos)
 Override PointCloud operator[] to shorten code.

Detailed Description

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).

Author:
Radu Bogdan Rusu

Member Typedef Documentation

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 91 of file extract_polygonal_prism_data.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 93 of file extract_polygonal_prism_data.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 92 of file extract_polygonal_prism_data.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 96 of file extract_polygonal_prism_data.h.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 95 of file extract_polygonal_prism_data.h.


Constructor & Destructor Documentation

pcl::ExtractPolygonalPrismData::ExtractPolygonalPrismData ( ) [inline]

Empty constructor.

Definition at line 99 of file extract_polygonal_prism_data.h.


Member Function Documentation

void pcl::ExtractPolygonalPrismData::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.

Parameters:
height_minthe resultant min height limit
height_maxthe resultant max height limit

Definition at line 133 of file extract_polygonal_prism_data.h.

IndicesPtr const pcl::PCLBase::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 171 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 99 of file pcl_base.h.

PointCloudConstPtr pcl::ExtractPolygonalPrismData::getInputPlanarHull ( ) [inline]

Get a pointer the input planar hull dataset.

Definition at line 112 of file extract_polygonal_prism_data.h.

void pcl::ExtractPolygonalPrismData::getViewPoint ( float &  vpx,
float &  vpy,
float &  vpz 
) [inline]

Get the viewpoint.

Definition at line 154 of file extract_polygonal_prism_data.h.

const PointT& pcl::PCLBase::operator[] ( size_t  pos) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:
this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]
Parameters:
posposition in indices_ vector

Definition at line 178 of file pcl_base.h.

void pcl::ExtractPolygonalPrismData::segment ( pcl::PointIndices output)

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

Parameters:
outputthe resultant point indices that support the model found (inliers)

Definition at line 150 of file extract_polygonal_prism_data.hpp.

void pcl::ExtractPolygonalPrismData::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:
height_minthe minimum allowed distance to the plane model value
height_maxthe maximum allowed distance to the plane model value

Definition at line 121 of file extract_polygonal_prism_data.h.

void pcl::PCLBase::setIndices ( const IndicesPtr indices) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 105 of file pcl_base.h.

void pcl::PCLBase::setIndices ( const PointIndicesConstPtr indices) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
indicesa pointer to the vector of indices that represents the input data.

Definition at line 116 of file pcl_base.h.

void pcl::PCLBase::setIndices ( size_t  row_start,
size_t  col_start,
size_t  nb_rows,
size_t  nb_cols 
) [inline, inherited]

Set the indices for the points laying within an interest region of the point cloud.

Note:
you shouldn't call this method on unorganized point clouds!
Parameters:
row_startthe offset on rows
col_startthe offset on columns
nb_rowsthe number of rows to be considered row_start included
nb_colsthe number of columns to be considered col_start included

Definition at line 132 of file pcl_base.h.

virtual void pcl::PCLBase::setInputCloud ( const PointCloudConstPtr cloud) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 95 of file pcl_base.h.

void pcl::ExtractPolygonalPrismData::setInputPlanarHull ( const PointCloudConstPtr hull) [inline]

Provide a pointer to the input planar hull dataset.

Parameters:
hullthe input planar hull dataset

Definition at line 108 of file extract_polygonal_prism_data.h.

void pcl::ExtractPolygonalPrismData::setViewPoint ( float  vpx,
float  vpy,
float  vpz 
) [inline]

Set the viewpoint.

Parameters:
vpxthe X coordinate of the viewpoint
vpythe Y coordinate of the viewpoint
vpzthe Z coordinate of the viewpoint

Definition at line 145 of file extract_polygonal_prism_data.h.


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