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 >:

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Collaboration diagram for pcl::ExtractPolygonalPrismData< PointT >:

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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. More...

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

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

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

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

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

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

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. More...

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

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

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

Definition at line 91 of file extract_polygonal_prism_data.h.

template<typename PointT >

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

Definition at line 93 of file extract_polygonal_prism_data.h.

template<typename PointT >

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

Definition at line 92 of file extract_polygonal_prism_data.h.

template<typename PointT >

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

Definition at line 96 of file extract_polygonal_prism_data.h.

template<typename PointT >

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

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 >

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 -FLT_MAX, FLT_MAX.

Parameters

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

Definition at line 133 of file extract_polygonal_prism_data.h.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT >

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

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
	)		const

inline

Get the viewpoint.

Definition at line 154 of file extract_polygonal_prism_data.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos)

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

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 146 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

[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 121 of file extract_polygonal_prism_data.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

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 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud)

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.h.

template<typename PointT >

void pcl::ExtractPolygonalPrismData< PointT >::setInputPlanarHull ( const PointCloudConstPtr & hull)

inline

Provide a pointer to the input planar hull dataset.

Parameters

[in] 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

[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 145 of file extract_polygonal_prism_data.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/segmentation/include/pcl/segmentation/extract_polygonal_prism_data.h
/builddir/build/BUILD/PCL-1.6.0-Source/segmentation/include/pcl/segmentation/impl/extract_polygonal_prism_data.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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