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
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr
Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	ExtractPolygonalPrismData ()=default
	Empty constructor.
void	setInputPlanarHull (const PointCloudConstPtr &hull)
	Provide a pointer to the input planar hull dataset.
void	setPolygons (const std::vector< pcl::Vertices > &polygons)
	Provide a vector of the concave polygons indices, as recieved from ConcaveHull::polygons.
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 ()=default
	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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr	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[] (std::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_ {nullptr}
	A pointer to the input planar hull dataset.
std::vector< pcl::Vertices >	polygons_
	polygons indices vectors, as recieved from ConcaveHull
int	min_pts_hull_ {3}
	The minimum number of points needed on the convex hull.
double	height_limit_min_ {0.0}
	The minimum allowed height (distance to the model) a point will be considered from.
double	height_limit_max_ {std::numeric_limits<float>::max()}
	The maximum allowed height (distance to the model) a point will be considered from.
float	vpx_ {0.0f}
	Values describing the data acquisition viewpoint.
float	vpy_ {0.0f}
float	vpz_ {0.0f}
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 103 of file extract_polygonal_prism_data.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT>

using pcl::ExtractPolygonalPrismData< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 111 of file extract_polygonal_prism_data.h.

◆ PointCloudConstPtr

template<typename PointT>

using pcl::ExtractPolygonalPrismData< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 113 of file extract_polygonal_prism_data.h.

◆ PointCloudPtr

template<typename PointT>

using pcl::ExtractPolygonalPrismData< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 112 of file extract_polygonal_prism_data.h.

◆ PointIndicesConstPtr

template<typename PointT>

using pcl::ExtractPolygonalPrismData< PointT >::PointIndicesConstPtr = PointIndices::ConstPtr

Definition at line 116 of file extract_polygonal_prism_data.h.

◆ PointIndicesPtr

template<typename PointT>

using pcl::ExtractPolygonalPrismData< PointT >::PointIndicesPtr = PointIndices::Ptr

Definition at line 115 of file extract_polygonal_prism_data.h.

Constructor & Destructor Documentation

◆ ExtractPolygonalPrismData()

template<typename PointT>

pcl::ExtractPolygonalPrismData< PointT >::ExtractPolygonalPrismData ( )

default

Empty constructor.

Member Function Documentation

◆ getClassName()

template<typename PointT>

virtual std::string pcl::ExtractPolygonalPrismData< PointT >::getClassName ( ) const

inlineprotectedvirtual

Class getName method.

Definition at line 220 of file extract_polygonal_prism_data.h.

Referenced by segment().

◆ getHeightLimits()

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 0, std::numeric_limits<float>::max().

Parameters

[out]	height_min	the resultant min height limit
[out]	height_max	the resultant max height limit

Definition at line 161 of file extract_polygonal_prism_data.h.

References height_limit_max_, and height_limit_min_.

◆ getInputPlanarHull()

template<typename PointT>

PointCloudConstPtr pcl::ExtractPolygonalPrismData< PointT >::getInputPlanarHull ( ) const

inline

Get a pointer the input planar hull dataset.

Definition at line 140 of file extract_polygonal_prism_data.h.

References planar_hull_.

◆ getViewPoint()

template<typename PointT>

void pcl::ExtractPolygonalPrismData< PointT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz ) const

inline

Get the viewpoint.

Definition at line 182 of file extract_polygonal_prism_data.h.

References vpx_, vpy_, and vpz_.

◆ segment()

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 149 of file extract_polygonal_prism_data.hpp.

References pcl::computeMeanAndCovarianceMatrix(), pcl::PCLBase< PointT >::deinitCompute(), pcl::eigen33(), getClassName(), pcl::PointIndices::header, height_limit_max_, pcl::PointIndices::indices, pcl::PCLBase< PointT >::indices_, pcl::PCLBase< PointT >::initCompute(), pcl::PCLBase< PointT >::input_, pcl::isXYPointIn2DXYPolygon(), min_pts_hull_, planar_hull_, pcl::pointToPlaneDistanceSigned(), polygons_, pcl::SampleConsensusModelPlane< PointT >::projectPoints(), pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), vpx_, vpy_, and vpz_.

◆ setHeightLimits()

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 149 of file extract_polygonal_prism_data.h.

References height_limit_max_, and height_limit_min_.

◆ setInputPlanarHull()

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 126 of file extract_polygonal_prism_data.h.

References planar_hull_.

◆ setPolygons()

template<typename PointT>

void pcl::ExtractPolygonalPrismData< PointT >::setPolygons ( const std::vector< pcl::Vertices > & polygons )

inline

Provide a vector of the concave polygons indices, as recieved from ConcaveHull::polygons.

Note: This is only needed when using ConcaveHull that has more than one polygon.

Parameters

[in] polygons - see ConcaveHull::polygons

Definition at line 133 of file extract_polygonal_prism_data.h.

References polygons_.

◆ setViewPoint()

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 173 of file extract_polygonal_prism_data.h.

References vpx_, vpy_, and vpz_.

Member Data Documentation

◆ height_limit_max_

template<typename PointT>

double pcl::ExtractPolygonalPrismData< PointT >::height_limit_max_ {std::numeric_limits<float>::max()}

protected

The maximum allowed height (distance to the model) a point will be considered from.

Definition at line 213 of file extract_polygonal_prism_data.h.

Referenced by getHeightLimits(), segment(), and setHeightLimits().

◆ height_limit_min_

template<typename PointT>

double pcl::ExtractPolygonalPrismData< PointT >::height_limit_min_ {0.0}

protected

The minimum allowed height (distance to the model) a point will be considered from.

Definition at line 208 of file extract_polygonal_prism_data.h.

Referenced by getHeightLimits(), and setHeightLimits().

◆ min_pts_hull_

template<typename PointT>

int pcl::ExtractPolygonalPrismData< PointT >::min_pts_hull_ {3}

protected

The minimum number of points needed on the convex hull.

Definition at line 203 of file extract_polygonal_prism_data.h.

Referenced by segment().

◆ planar_hull_

template<typename PointT>

PointCloudConstPtr pcl::ExtractPolygonalPrismData< PointT >::planar_hull_ {nullptr}

protected

A pointer to the input planar hull dataset.

Definition at line 197 of file extract_polygonal_prism_data.h.

Referenced by getInputPlanarHull(), segment(), and setInputPlanarHull().

◆ polygons_

template<typename PointT>

std::vector<pcl::Vertices> pcl::ExtractPolygonalPrismData< PointT >::polygons_

protected

polygons indices vectors, as recieved from ConcaveHull

Definition at line 200 of file extract_polygonal_prism_data.h.

Referenced by segment(), and setPolygons().

◆ vpx_

template<typename PointT>

float pcl::ExtractPolygonalPrismData< PointT >::vpx_ {0.0f}

protected

Values describing the data acquisition viewpoint.

Default: 0,0,0.

Definition at line 216 of file extract_polygonal_prism_data.h.

Referenced by getViewPoint(), segment(), and setViewPoint().

◆ vpy_

template<typename PointT>

float pcl::ExtractPolygonalPrismData< PointT >::vpy_ {0.0f}

protected

Definition at line 216 of file extract_polygonal_prism_data.h.

Referenced by getViewPoint(), segment(), and setViewPoint().

◆ vpz_

template<typename PointT>

float pcl::ExtractPolygonalPrismData< PointT >::vpz_ {0.0f}

protected

Definition at line 216 of file extract_polygonal_prism_data.h.

Referenced by getViewPoint(), segment(), and setViewPoint().

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

pcl/segmentation/extract_polygonal_prism_data.h
pcl/segmentation/impl/extract_polygonal_prism_data.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ PointIndicesConstPtr

◆ PointIndicesPtr

Constructor & Destructor Documentation

◆ ExtractPolygonalPrismData()

Member Function Documentation

◆ getClassName()

◆ getHeightLimits()

◆ getInputPlanarHull()

◆ getViewPoint()

◆ segment()

◆ setHeightLimits()

◆ setInputPlanarHull()

◆ setPolygons()

◆ setViewPoint()

Member Data Documentation

◆ height_limit_max_

◆ height_limit_min_

◆ min_pts_hull_

◆ planar_hull_

◆ polygons_

◆ vpx_

◆ vpy_

◆ vpz_