Point Cloud Library (PCL) 1.12.1
extract_polygonal_prism_data.h
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37
38#pragma once
39
40#include <cfloat> // for FLT_MAX
41
42#include <pcl/pcl_base.h>
43
44namespace pcl
45{
46 /** \brief General purpose method for checking if a 3D point is inside or
47 * outside a given 2D polygon.
48 * \note this method accepts any general 3D point that is projected onto the
49 * 2D polygon, but performs an internal XY projection of both the polygon and the point.
50 * \param point a 3D point projected onto the same plane as the polygon
51 * \param polygon a polygon
52 * \ingroup segmentation
53 */
54 template <typename PointT> bool
55 isPointIn2DPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon);
56
57 /** \brief Check if a 2d point (X and Y coordinates considered only!) is
58 * inside or outside a given polygon. This method assumes that both the point
59 * and the polygon are projected onto the XY plane.
60 *
61 * \note (This is highly optimized code taken from http://www.visibone.com/inpoly/)
62 * Copyright (c) 1995-1996 Galacticomm, Inc. Freeware source code.
63 * \param point a 2D point projected onto the same plane as the polygon
64 * \param polygon a polygon
65 * \ingroup segmentation
66 */
67 template <typename PointT> bool
68 isXYPointIn2DXYPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon);
69
70 ////////////////////////////////////////////////////////////////////////////////////////////
71 /** \brief @b ExtractPolygonalPrismData uses a set of point indices that
72 * represent a planar model, and together with a given height, generates a 3D
73 * polygonal prism. The polygonal prism is then used to segment all points
74 * lying inside it.
75 *
76 * An example of its usage is to extract the data lying within a set of 3D
77 * boundaries (e.g., objects supported by a plane).
78 *
79 * Example usage:
80 * \code{.cpp}
81 * double z_min = 0., z_max = 0.05; // we want the points above the plane, no farther than 5 cm from the surface
82 * pcl::PointCloud<pcl::PointXYZ>::Ptr hull_points (new pcl::PointCloud<pcl::PointXYZ> ());
83 * pcl::ConvexHull<pcl::PointXYZ> hull;
84 * // hull.setDimension (2); // not necessarily needed, but we need to check the dimensionality of the output
85 * hull.setInputCloud (cloud);
86 * hull.reconstruct (hull_points);
87 * if (hull.getDimension () == 2)
88 * {
89 * pcl::ExtractPolygonalPrismData<pcl::PointXYZ> prism;
90 * prism.setInputCloud (point_cloud);
91 * prism.setInputPlanarHull (hull_points);
92 * prism.setHeightLimits (z_min, z_max);
93 * prism.segment (cloud_indices);
94 * }
95 * else
96 * PCL_ERROR ("The input cloud does not represent a planar surface.\n");
97 * \endcode
98 * \author Radu Bogdan Rusu
99 * \ingroup segmentation
100 */
101 template <typename PointT>
102 class ExtractPolygonalPrismData : public PCLBase<PointT>
103 {
108
109 public:
113
116
117 /** \brief Empty constructor. */
120 vpx_ (0), vpy_ (0), vpz_ (0)
121 {};
122
123 /** \brief Provide a pointer to the input planar hull dataset.
124 * \note Please see the example in the class description for how to obtain this.
125 * \param[in] hull the input planar hull dataset
126 */
127 inline void
129
130 /** \brief Get a pointer the input planar hull dataset. */
131 inline PointCloudConstPtr
132 getInputPlanarHull () const { return (planar_hull_); }
133
134 /** \brief Set the height limits. All points having distances to the
135 * model outside this interval will be discarded.
136 *
137 * \param[in] height_min the minimum allowed distance to the plane model value
138 * \param[in] height_max the maximum allowed distance to the plane model value
139 */
140 inline void
141 setHeightLimits (double height_min, double height_max)
142 {
143 height_limit_min_ = height_min;
144 height_limit_max_ = height_max;
145 }
146
147 /** \brief Get the height limits (min/max) as set by the user. The
148 * default values are -FLT_MAX, FLT_MAX.
149 * \param[out] height_min the resultant min height limit
150 * \param[out] height_max the resultant max height limit
151 */
152 inline void
153 getHeightLimits (double &height_min, double &height_max) const
154 {
155 height_min = height_limit_min_;
156 height_max = height_limit_max_;
157 }
158
159 /** \brief Set the viewpoint.
160 * \param[in] vpx the X coordinate of the viewpoint
161 * \param[in] vpy the Y coordinate of the viewpoint
162 * \param[in] vpz the Z coordinate of the viewpoint
163 */
164 inline void
165 setViewPoint (float vpx, float vpy, float vpz)
166 {
167 vpx_ = vpx;
168 vpy_ = vpy;
169 vpz_ = vpz;
170 }
171
172 /** \brief Get the viewpoint. */
173 inline void
174 getViewPoint (float &vpx, float &vpy, float &vpz) const
175 {
176 vpx = vpx_;
177 vpy = vpy_;
178 vpz = vpz_;
179 }
180
181 /** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
182 * \param[out] output the resultant point indices that support the model found (inliers)
183 */
184 void
185 segment (PointIndices &output);
186
187 protected:
188 /** \brief A pointer to the input planar hull dataset. */
190
191 /** \brief The minimum number of points needed on the convex hull. */
193
194 /** \brief The minimum allowed height (distance to the model) a point
195 * will be considered from.
196 */
198
199 /** \brief The maximum allowed height (distance to the model) a point
200 * will be considered from.
201 */
203
204 /** \brief Values describing the data acquisition viewpoint. Default: 0,0,0. */
205 float vpx_, vpy_, vpz_;
206
207 /** \brief Class getName method. */
208 virtual std::string
209 getClassName () const { return ("ExtractPolygonalPrismData"); }
210 };
211}
212
213#ifdef PCL_NO_PRECOMPILE
214#include <pcl/segmentation/impl/extract_polygonal_prism_data.hpp>
215#endif
ExtractPolygonalPrismData uses a set of point indices that represent a planar model,...
PointCloudConstPtr getInputPlanarHull() const
Get a pointer the input planar hull dataset.
void setHeightLimits(double height_min, double height_max)
Set the height limits.
void setInputPlanarHull(const PointCloudConstPtr &hull)
Provide a pointer to the input planar hull dataset.
void getHeightLimits(double &height_min, double &height_max) const
Get the height limits (min/max) as set by the user.
void getViewPoint(float &vpx, float &vpy, float &vpz) const
Get the viewpoint.
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.
virtual std::string getClassName() const
Class getName method.
float vpx_
Values describing the data acquisition viewpoint.
void setViewPoint(float vpx, float vpy, float vpz)
Set the viewpoint.
double height_limit_max_
The maximum allowed height (distance to the model) a point will be considered from.
PointCloudConstPtr planar_hull_
A pointer to the input planar hull dataset.
void segment(PointIndices &output)
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
PCL base class.
Definition: pcl_base.h:70
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
PointIndices::ConstPtr PointIndicesConstPtr
Definition: pcl_base.h:77
PointIndices::Ptr PointIndicesPtr
Definition: pcl_base.h:76
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
bool isPointIn2DPolygon(const PointT &point, const pcl::PointCloud< PointT > &polygon)
General purpose method for checking if a 3D point is inside or outside a given 2D polygon.
bool isXYPointIn2DXYPolygon(const PointT &point, const pcl::PointCloud< PointT > &polygon)
Check if a 2d point (X and Y coordinates considered only!) is inside or outside a given polygon.
shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:13
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:14
A point structure representing Euclidean xyz coordinates, and the RGB color.