Extracts the submesh with the vertices captured inside an extruded polygon defined by the input boundary points.
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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
#include <extruded_polygon_subset_extractor.h>
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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.
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◆ extract()
std::vector< int > noether::ExtrudedPolygonSubsetExtractor::extract |
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const pcl::PCLPointCloud2 & |
cloud, |
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const Eigen::MatrixX3d & |
boundary |
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overridevirtual |
- Parameters
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cloud | |
boundary | - ordered 3D points (row-wise) defining a closed boundary polygon |
- Returns
Implements noether::SubsetExtractor.