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

ExtractPolygonalPrismData использует набор индексов точек, представляющих плоскую модель, и на их основе вместе с заданной высотой строит трёхмерную полигональную призму.

Затем эта полигональная призма используется для сегментации всех точек, расположенных внутри неё.

Пример использования — извлечение данных, находящихся внутри заданных трёхмерных границ (например, объектов, опирающихся на плоскость).

Пример использования:

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");
pcl::ConvexHullConvexHull using libqhull library.Definition: convex_hull.h:73
pcl::ConvexHull
ConvexHull using libqhull library.
Definition: convex_hull.h:73
pcl::ConvexHull::getDimensionint getDimension() constReturns the dimensionality (2 or 3) of the calculated hull.Definition: convex_hull.h:160
pcl::ConvexHull::getDimension
int getDimension() const
Returns the dimensionality (2 or 3) of the calculated hull.
Definition: convex_hull.h:160
pcl::ConvexHull::reconstructvoid reconstruct(PointCloud &points, std::vector< pcl::Vertices > &polygons)Compute a convex hull for all points given.Definition: convex_hull.hpp:482
pcl::ConvexHull::reconstruct
void reconstruct(PointCloud &points, std::vector< pcl::Vertices > &polygons)
Compute a convex hull for all points given.
Definition: convex_hull.hpp:482
pcl::ExtractPolygonalPrismDataExtractPolygonalPrismData uses a set of point indices that represent a planar model,...Definition: extract_polygonal_prism_data.h:104
pcl::ExtractPolygonalPrismData
ExtractPolygonalPrismData uses a set of point indices that represent a planar model,...
Definition: extract_polygonal_prism_data.h:104
pcl::ExtractPolygonalPrismData::setHeightLimitsvoid setHeightLimits(double height_min, double height_max)Set the height limits.Definition: extract_polygonal_prism_data.h:149
pcl::ExtractPolygonalPrismData::setHeightLimits
void setHeightLimits(double height_min, double height_max)
Set the height limits.
Definition: extract_polygonal_prism_data.h:149
pcl::ExtractPolygonalPrismData::setInputPlanarHullvoid setInputPlanarHull(const PointCloudConstPtr &hull)Provide a pointer to the input planar hull dataset.Definition: extract_polygonal_prism_data.h:126
pcl::ExtractPolygonalPrismData::setInputPlanarHull
void setInputPlanarHull(const PointCloudConstPtr &hull)
Provide a pointer to the input planar hull dataset.
Definition: extract_polygonal_prism_data.h:126
pcl::ExtractPolygonalPrismData::segmentvoid segment(PointIndices &output)Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>Definition: extract_polygonal_prism_data.hpp:149
pcl::ExtractPolygonalPrismData::segment
void segment(PointIndices &output)
Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
Definition: extract_polygonal_prism_data.hpp:149
pcl::PCLBase::setInputCloudvirtual void setInputCloud(const PointCloudConstPtr &cloud)Provide a pointer to the input dataset.Definition: pcl_base.hpp:65
pcl::PCLBase::setInputCloud
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Definition: pcl_base.hpp:65
pcl::PointCloud< pcl::PointXYZ >
pcl::PointCloud< pcl::PointXYZ >
pcl::PointCloud::Ptrshared_ptr< PointCloud< PointT > > PtrDefinition: point_cloud.h:413
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413

Автор

Radu Bogdan Rusu

Определение в строке 103 файла extract_polygonal_prism_data.h.