Point Cloud Library (PCL)
1.3.1
|
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 | |
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. |
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).
typedef pcl::PointCloud<PointT> pcl::ExtractPolygonalPrismData::PointCloud |
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.
pcl::ExtractPolygonalPrismData::ExtractPolygonalPrismData | ( | ) | [inline] |
Empty constructor.
Definition at line 99 of file extract_polygonal_prism_data.h.
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.
height_min | the resultant min height limit |
height_max | the 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.
pos | position 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 ()>
output | the 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.
height_min | the minimum allowed distance to the plane model value |
height_max | the 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.
indices | a 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.
indices | a 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.
row_start | the offset on rows |
col_start | the offset on columns |
nb_rows | the number of rows to be considered row_start included |
nb_cols | the 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.
cloud | the 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.
hull | the 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.
vpx | the X coordinate of the viewpoint |
vpy | the Y coordinate of the viewpoint |
vpz | the Z coordinate of the viewpoint |
Definition at line 145 of file extract_polygonal_prism_data.h.