216 lines
8.2 KiB
C++
216 lines
8.2 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <cfloat> // for FLT_MAX
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#include <pcl/pcl_base.h>
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namespace pcl
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{
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/** \brief General purpose method for checking if a 3D point is inside or
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* outside a given 2D polygon.
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* \note this method accepts any general 3D point that is projected onto the
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* 2D polygon, but performs an internal XY projection of both the polygon and the point.
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* \param point a 3D point projected onto the same plane as the polygon
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* \param polygon a polygon
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* \ingroup segmentation
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*/
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template <typename PointT> bool
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isPointIn2DPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon);
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/** \brief Check if a 2d point (X and Y coordinates considered only!) is
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* inside or outside a given polygon. This method assumes that both the point
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* and the polygon are projected onto the XY plane.
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*
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* \note (This is highly optimized code taken from http://www.visibone.com/inpoly/)
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* Copyright (c) 1995-1996 Galacticomm, Inc. Freeware source code.
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* \param point a 2D point projected onto the same plane as the polygon
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* \param polygon a polygon
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* \ingroup segmentation
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*/
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template <typename PointT> bool
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isXYPointIn2DXYPolygon (const PointT &point, const pcl::PointCloud<PointT> &polygon);
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////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief @b ExtractPolygonalPrismData uses a set of point indices that
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* represent a planar model, and together with a given height, generates a 3D
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* polygonal prism. The polygonal prism is then used to segment all points
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* lying inside it.
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*
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* An example of its usage is to extract the data lying within a set of 3D
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* boundaries (e.g., objects supported by a plane).
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*
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* Example usage:
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* \code{.cpp}
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* double z_min = 0., z_max = 0.05; // we want the points above the plane, no farther than 5 cm from the surface
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* pcl::PointCloud<pcl::PointXYZ>::Ptr hull_points (new pcl::PointCloud<pcl::PointXYZ> ());
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* pcl::ConvexHull<pcl::PointXYZ> hull;
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* // hull.setDimension (2); // not necessarily needed, but we need to check the dimensionality of the output
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* hull.setInputCloud (cloud);
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* hull.reconstruct (hull_points);
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* if (hull.getDimension () == 2)
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* {
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* pcl::ExtractPolygonalPrismData<pcl::PointXYZ> prism;
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* prism.setInputCloud (point_cloud);
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* prism.setInputPlanarHull (hull_points);
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* prism.setHeightLimits (z_min, z_max);
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* prism.segment (cloud_indices);
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* }
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* else
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* PCL_ERROR ("The input cloud does not represent a planar surface.\n");
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* \endcode
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* \author Radu Bogdan Rusu
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* \ingroup segmentation
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*/
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template <typename PointT>
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class ExtractPolygonalPrismData : public PCLBase<PointT>
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{
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using PCLBase<PointT>::input_;
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using PCLBase<PointT>::indices_;
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using PCLBase<PointT>::initCompute;
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using PCLBase<PointT>::deinitCompute;
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public:
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using PointCloud = pcl::PointCloud<PointT>;
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using PointCloudPtr = typename PointCloud::Ptr;
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using PointCloudConstPtr = typename PointCloud::ConstPtr;
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using PointIndicesPtr = PointIndices::Ptr;
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using PointIndicesConstPtr = PointIndices::ConstPtr;
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/** \brief Empty constructor. */
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ExtractPolygonalPrismData () : planar_hull_ (), min_pts_hull_ (3),
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height_limit_min_ (0), height_limit_max_ (FLT_MAX),
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vpx_ (0), vpy_ (0), vpz_ (0)
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{};
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/** \brief Provide a pointer to the input planar hull dataset.
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* \note Please see the example in the class description for how to obtain this.
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* \param[in] hull the input planar hull dataset
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*/
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inline void
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setInputPlanarHull (const PointCloudConstPtr &hull) { planar_hull_ = hull; }
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/** \brief Get a pointer the input planar hull dataset. */
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inline PointCloudConstPtr
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getInputPlanarHull () const { return (planar_hull_); }
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/** \brief Set the height limits. All points having distances to the
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* model outside this interval will be discarded.
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*
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* \param[in] height_min the minimum allowed distance to the plane model value
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* \param[in] height_max the maximum allowed distance to the plane model value
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*/
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inline void
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setHeightLimits (double height_min, double height_max)
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{
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height_limit_min_ = height_min;
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height_limit_max_ = height_max;
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}
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/** \brief Get the height limits (min/max) as set by the user. The
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* default values are -FLT_MAX, FLT_MAX.
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* \param[out] height_min the resultant min height limit
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* \param[out] height_max the resultant max height limit
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*/
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inline void
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getHeightLimits (double &height_min, double &height_max) const
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{
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height_min = height_limit_min_;
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height_max = height_limit_max_;
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}
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/** \brief Set the viewpoint.
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* \param[in] vpx the X coordinate of the viewpoint
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* \param[in] vpy the Y coordinate of the viewpoint
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* \param[in] vpz the Z coordinate of the viewpoint
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*/
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inline void
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setViewPoint (float vpx, float vpy, float vpz)
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{
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vpx_ = vpx;
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vpy_ = vpy;
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vpz_ = vpz;
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}
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/** \brief Get the viewpoint. */
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inline void
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getViewPoint (float &vpx, float &vpy, float &vpz) const
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{
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vpx = vpx_;
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vpy = vpy_;
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vpz = vpz_;
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}
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/** \brief Cluster extraction in a PointCloud given by <setInputCloud (), setIndices ()>
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* \param[out] output the resultant point indices that support the model found (inliers)
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*/
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void
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segment (PointIndices &output);
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protected:
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/** \brief A pointer to the input planar hull dataset. */
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PointCloudConstPtr planar_hull_;
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/** \brief The minimum number of points needed on the convex hull. */
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int min_pts_hull_;
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/** \brief The minimum allowed height (distance to the model) a point
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* will be considered from.
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*/
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double height_limit_min_;
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/** \brief The maximum allowed height (distance to the model) a point
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* will be considered from.
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*/
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double height_limit_max_;
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/** \brief Values describing the data acquisition viewpoint. Default: 0,0,0. */
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float vpx_, vpy_, vpz_;
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/** \brief Class getName method. */
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virtual std::string
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getClassName () const { return ("ExtractPolygonalPrismData"); }
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/segmentation/impl/extract_polygonal_prism_data.hpp>
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#endif
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