noether::ExtrudedPolygonSubsetExtractor Struct Reference

Extracts the submesh with the vertices captured inside an extruded polygon defined by the input boundary points. More...

#include <extruded_polygon_subset_extractor.h>

Inheritance diagram for noether::ExtrudedPolygonSubsetExtractor:

Classes
struct	Params

Public Member Functions
std::vector< int >	extract (const pcl::PCLPointCloud2 &cloud, const Eigen::MatrixX3d &boundary) const override
	Extracts the inlying subset of points from a cloud given a set of boundary points.

Public Attributes
Params	params

Detailed Description

Extracts the submesh with the vertices captured inside an extruded polygon defined by the input boundary points.

Operations

• Fit plane to boundary points
• Project boundary points onto fitted plane
• Extrude a prism defined by the projected boundary to the extents of the mesh in the direction of the fitted plane normal
• Identify the vertices within the extruded prism
• Cluster the inlier vertices
• Extract the single cluster of vertices whose centroid is closest to the centroid of the boundary

Member Function Documentation

extract()

std::vector< int > noether::ExtrudedPolygonSubsetExtractor::extract ( const pcl::PCLPointCloud2 &  cloud, const Eigen::MatrixX3d &  boundary  ) const

overridevirtual

Extracts the inlying subset of points from a cloud given a set of boundary points.

Parameters

cloud
boundary	- ordered 3D points (row-wise) defining a closed boundary polygon

Returns

Implements noether::SubsetExtractor.