Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: extract_polygonal_prism_data.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_ 00039 #define PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_ 00040 00041 #include <pcl/pcl_base.h> 00042 #include <pcl/sample_consensus/sac_model_plane.h> 00043 00044 namespace pcl 00045 { 00054 template <typename PointT> bool 00055 isPointIn2DPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon); 00056 00067 template <typename PointT> bool 00068 isXYPointIn2DXYPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon); 00069 00071 00082 template <typename PointT> 00083 class ExtractPolygonalPrismData : public PCLBase<PointT> 00084 { 00085 using PCLBase<PointT>::input_; 00086 using PCLBase<PointT>::indices_; 00087 using PCLBase<PointT>::initCompute; 00088 using PCLBase<PointT>::deinitCompute; 00089 00090 public: 00091 typedef pcl::PointCloud<PointT> PointCloud; 00092 typedef typename PointCloud::Ptr PointCloudPtr; 00093 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00094 00095 typedef PointIndices::Ptr PointIndicesPtr; 00096 typedef PointIndices::ConstPtr PointIndicesConstPtr; 00097 00099 ExtractPolygonalPrismData () : min_pts_hull_ (3), 00100 height_limit_min_ (0), height_limit_max_ (FLT_MAX), 00101 vpx_ (0), vpy_ (0), vpz_ (0) 00102 {}; 00103 00107 inline void 00108 setInputPlanarHull (const PointCloudConstPtr &hull) { planar_hull_ = hull; } 00109 00111 inline PointCloudConstPtr 00112 getInputPlanarHull () { return (planar_hull_); } 00113 00120 inline void 00121 setHeightLimits (double height_min, double height_max) 00122 { 00123 height_limit_min_ = height_min; 00124 height_limit_max_ = height_max; 00125 } 00126 00132 inline void 00133 getHeightLimits (double &height_min, double &height_max) 00134 { 00135 height_min = height_limit_min_; 00136 height_max = height_limit_max_; 00137 } 00138 00144 inline void 00145 setViewPoint (float vpx, float vpy, float vpz) 00146 { 00147 vpx_ = vpx; 00148 vpy_ = vpy; 00149 vpz_ = vpz; 00150 } 00151 00153 inline void 00154 getViewPoint (float &vpx, float &vpy, float &vpz) 00155 { 00156 vpx = vpx_; 00157 vpy = vpy_; 00158 vpz = vpz_; 00159 } 00160 00164 void 00165 segment (PointIndices &output); 00166 00167 protected: 00169 PointCloudConstPtr planar_hull_; 00170 00172 int min_pts_hull_; 00173 00177 double height_limit_min_; 00178 00182 double height_limit_max_; 00183 00185 float vpx_, vpy_, vpz_; 00186 00188 virtual std::string 00189 getClassName () const { return ("ExtractPolygonalPrismData"); } 00190 }; 00191 } 00192 00193 #endif //#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_