extract_polygonal_prism_data.h

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 * $Id: extract_polygonal_prism_data.h 4869 2012-03-01 03:00:16Z rusu $
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#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
#define PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_

#include <pcl/pcl_base.h>
#include <pcl/sample_consensus/sac_model_plane.h>

namespace pcl
{
  template <typename PointT> bool 
  isPointIn2DPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon);

  template <typename PointT> bool 
  isXYPointIn2DXYPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon);


  template <typename PointT>
  class ExtractPolygonalPrismData : public PCLBase<PointT>
  {
    using PCLBase<PointT>::input_;
    using PCLBase<PointT>::indices_;
    using PCLBase<PointT>::initCompute;
    using PCLBase<PointT>::deinitCompute;

    public:
      typedef pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      typedef PointIndices::Ptr PointIndicesPtr;
      typedef PointIndices::ConstPtr PointIndicesConstPtr;

      ExtractPolygonalPrismData () : planar_hull_ (), min_pts_hull_ (3), 
                                     height_limit_min_ (0), height_limit_max_ (FLT_MAX),
                                     vpx_ (0), vpy_ (0), vpz_ (0)
      {};

      inline void 
      setInputPlanarHull (const PointCloudConstPtr &hull) { planar_hull_ = hull; }

      inline PointCloudConstPtr 
      getInputPlanarHull () const { return (planar_hull_); }

      inline void
      setHeightLimits (double height_min, double height_max)
      {
        height_limit_min_ = height_min;
        height_limit_max_ = height_max;
      }

      inline void
      getHeightLimits (double &height_min, double &height_max) const
      {
        height_min = height_limit_min_;
        height_max = height_limit_max_;
      }

      inline void
      setViewPoint (float vpx, float vpy, float vpz)
      {
        vpx_ = vpx;
        vpy_ = vpy;
        vpz_ = vpz;
      }

      inline void
      getViewPoint (float &vpx, float &vpy, float &vpz) const
      {
        vpx = vpx_;
        vpy = vpy_;
        vpz = vpz_;
      }

      void 
      segment (PointIndices &output);

    protected:
      PointCloudConstPtr planar_hull_;

      int min_pts_hull_;

      double height_limit_min_;

      double height_limit_max_;

      float vpx_, vpy_, vpz_;

      virtual std::string 
      getClassName () const { return ("ExtractPolygonalPrismData"); }
  };
}

#endif  //#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_