Public Types | Public Member Functions | Protected Member Functions | Protected Attributes

pcl::ExtractPolygonalPrismData< PointT > Class Template Reference
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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 ()>

Protected Member Functions

virtual std::string getClassName () const
 Class getName method.

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_

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).

Author:
Radu Bogdan Rusu

Definition at line 83 of file extract_polygonal_prism_data.h.


Member Typedef Documentation

template<typename PointT >
typedef pcl::PointCloud<PointT> pcl::ExtractPolygonalPrismData< PointT >::PointCloud

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 91 of file extract_polygonal_prism_data.h.

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 93 of file extract_polygonal_prism_data.h.

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 92 of file extract_polygonal_prism_data.h.

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 96 of file extract_polygonal_prism_data.h.

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

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 95 of file extract_polygonal_prism_data.h.


Constructor & Destructor Documentation

template<typename PointT >
pcl::ExtractPolygonalPrismData< PointT >::ExtractPolygonalPrismData (  )  [inline]

Empty constructor.

Definition at line 99 of file extract_polygonal_prism_data.h.


Member Function Documentation

template<typename PointT >
virtual std::string pcl::ExtractPolygonalPrismData< PointT >::getClassName (  )  const [inline, protected, virtual]

Class getName method.

Definition at line 189 of file extract_polygonal_prism_data.h.

template<typename PointT >
void pcl::ExtractPolygonalPrismData< PointT >::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_min the resultant min height limit
height_max the resultant max height limit

Definition at line 133 of file extract_polygonal_prism_data.h.

template<typename PointT >
PointCloudConstPtr pcl::ExtractPolygonalPrismData< PointT >::getInputPlanarHull (  )  [inline]

Get a pointer the input planar hull dataset.

Definition at line 112 of file extract_polygonal_prism_data.h.

template<typename PointT >
void pcl::ExtractPolygonalPrismData< PointT >::getViewPoint ( float &  vpx,
float &  vpy,
float &  vpz 
) [inline]

Get the viewpoint.

Definition at line 154 of file extract_polygonal_prism_data.h.

template<typename PointT >
void pcl::ExtractPolygonalPrismData< PointT >::segment ( pcl::PointIndices output  ) 

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

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

Definition at line 150 of file extract_polygonal_prism_data.hpp.

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:
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.

template<typename PointT >
void pcl::ExtractPolygonalPrismData< PointT >::setInputPlanarHull ( const PointCloudConstPtr hull  )  [inline]

Provide a pointer to the input planar hull dataset.

Parameters:
hull the input planar hull dataset

Definition at line 108 of file extract_polygonal_prism_data.h.

template<typename PointT >
void pcl::ExtractPolygonalPrismData< PointT >::setViewPoint ( float  vpx,
float  vpy,
float  vpz 
) [inline]

Set the viewpoint.

Parameters:
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.


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 182 of file extract_polygonal_prism_data.h.

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 177 of file extract_polygonal_prism_data.h.

template<typename PointT >
int pcl::ExtractPolygonalPrismData< PointT >::min_pts_hull_ [protected]

The minimum number of points needed on the convex hull.

Definition at line 172 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 169 of file extract_polygonal_prism_data.h.

template<typename PointT >
float pcl::ExtractPolygonalPrismData< PointT >::vpx_ [protected]

Values describing the data acquisition viewpoint.

Default: 0,0,0.

Definition at line 185 of file extract_polygonal_prism_data.h.

template<typename PointT >
float pcl::ExtractPolygonalPrismData< PointT >::vpy_ [protected]

Definition at line 185 of file extract_polygonal_prism_data.h.

template<typename PointT >
float pcl::ExtractPolygonalPrismData< PointT >::vpz_ [protected]

Definition at line 185 of file extract_polygonal_prism_data.h.


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