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 >:

Collaboration 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. More...

void	setInputPlanarHull (const PointCloudConstPtr &hull)
	Provide a pointer to the input planar hull dataset. More...

void	setPolygons (const std::vector< pcl::Vertices > &polygons)
	Provide a vector of the concave polygons indices, as recieved from ConcaveHull::polygons. More...

PointCloudConstPtr	getInputPlanarHull () const
	Get a pointer the input planar hull dataset. More...

void	setHeightLimits (double height_min, double height_max)
	Set the height limits. More...

void	getHeightLimits (double &height_min, double &height_max) const
	Get the height limits (min/max) as set by the user. More...

void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint. More...

void	getViewPoint (float &vpx, float &vpy, float &vpz) const
	Get the viewpoint. More...

void	segment (PointIndices &output)
	Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()> More...

Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
virtual std::string	getClassName () const
	Class getName method. More...

Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
PointCloudConstPtr	planar_hull_ {nullptr}
	A pointer to the input planar hull dataset. More...

std::vector< pcl::Vertices >	polygons_
	polygons indices vectors, as recieved from ConcaveHull More...

int	min_pts_hull_ {3}
	The minimum number of points needed on the convex hull. More...

double	height_limit_min_ {0.0}
	The minimum allowed height (distance to the model) a point will be considered from. More...

double	height_limit_max_ {std::numeric_limits<float>::max()}
	The maximum allowed height (distance to the model) a point will be considered from. More...

float	vpx_ {0.0f}
	Values describing the data acquisition viewpoint. More...

float	vpy_ {0.0f}

float	vpz_ {0.0f}

Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

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.

◆ 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 pcl::ExtractPolygonalPrismData< PointT >::height_limit_max_, and pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::vpx_, pcl::ExtractPolygonalPrismData< PointT >::vpy_, and pcl::ExtractPolygonalPrismData< PointT >::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::geometry::distance(), pcl::eigen33(), pcl::PointIndices::header, pcl::PointIndices::indices, pcl::isXYPointIn2DXYPolygon(), pcl::pointToPlaneDistanceSigned(), pcl::SampleConsensusModelPlane< PointT >::projectPoints(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::size().

◆ 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 pcl::ExtractPolygonalPrismData< PointT >::height_limit_max_, and pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::vpx_, pcl::ExtractPolygonalPrismData< PointT >::vpy_, and pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::getHeightLimits(), and pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::getHeightLimits(), and pcl::ExtractPolygonalPrismData< PointT >::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.

◆ 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 pcl::ExtractPolygonalPrismData< PointT >::getInputPlanarHull(), and pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::getViewPoint(), and pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::getViewPoint(), and pcl::ExtractPolygonalPrismData< PointT >::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 pcl::ExtractPolygonalPrismData< PointT >::getViewPoint(), and pcl::ExtractPolygonalPrismData< PointT >::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

template<typename PointT> class pcl::ExtractPolygonalPrismData< PointT >

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_

template<typename PointT>
class pcl::ExtractPolygonalPrismData< PointT >