38 #ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
39 #define PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
41 #include <pcl/pcl_base.h>
42 #include <pcl/sample_consensus/sac_model_plane.h>
54 template <
typename Po
intT>
bool
67 template <
typename Po
intT>
bool
101 template <
typename Po
intT>
131 inline PointCloudConstPtr
213 #ifdef PCL_NO_PRECOMPILE
214 #include <pcl/segmentation/impl/extract_polygonal_prism_data.hpp>
217 #endif //#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
pcl::PointCloud< PointT > PointCloud
PointIndices::Ptr PointIndicesPtr
float vpx_
Values describing the data acquisition viewpoint.
PointCloud::ConstPtr PointCloudConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
int min_pts_hull_
The minimum number of points needed on the convex hull.
boost::shared_ptr< PointCloud< PointT > > Ptr
ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism.
PointCloudConstPtr planar_hull_
A pointer to the input planar hull dataset.
void setInputPlanarHull(const PointCloudConstPtr &hull)
Provide a pointer to the input planar hull dataset.
double height_limit_max_
The maximum allowed height (distance to the model) a point will be considered from.
PointCloud::ConstPtr PointCloudConstPtr
virtual std::string getClassName() const
Class getName method.
void setViewPoint(float vpx, float vpy, float vpz)
Set the viewpoint.
void getHeightLimits(double &height_min, double &height_max) const
Get the height limits (min/max) as set by the user.
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...
ExtractPolygonalPrismData()
Empty constructor.
boost::shared_ptr< ::pcl::PointIndices > Ptr
PointCloud::Ptr PointCloudPtr
PointCloudConstPtr getInputPlanarHull() const
Get a pointer the input planar hull dataset.
A point structure representing Euclidean xyz coordinates, and the RGB color.
PointIndices::ConstPtr PointIndicesConstPtr
void setHeightLimits(double height_min, double height_max)
Set the height limits.
void getViewPoint(float &vpx, float &vpy, float &vpz) const
Get the viewpoint.
double height_limit_min_
The minimum allowed height (distance to the model) a point will be considered from.
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr
void segment(PointIndices &output)
Cluster extraction in a PointCloud given by
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...