Point Cloud Library (PCL)  1.7.1
plane_clipper3D.h
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37 
38 #ifndef PCL_PLANE_CLIPPER3D_H_
39 #define PCL_PLANE_CLIPPER3D_H_
40 #include "clipper3D.h"
41 
42 namespace pcl
43 {
44  /**
45  * @author Suat Gedikli <gedikli@willowgarage.com>
46  * @brief Implementation of a plane clipper in 3D
47  * \ingroup filters
48  */
49  template<typename PointT>
50  class PlaneClipper3D : public Clipper3D<PointT>
51  {
52  public:
53 
54  typedef boost::shared_ptr< PlaneClipper3D<PointT> > Ptr;
55  typedef boost::shared_ptr< const PlaneClipper3D<PointT> > ConstPtr;
56 
57  /**
58  * @author Suat Gedikli <gedikli@willowgarage.com>
59  * @brief Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f
60  * @param[in] plane_params plane parameters, need not necessarily be normalized
61  */
62  PlaneClipper3D (const Eigen::Vector4f& plane_params);
63 
64  virtual ~PlaneClipper3D () throw ();
65 
66  /**
67  * \brief Set new plane parameters
68  * \param plane_params
69  */
70  void setPlaneParameters (const Eigen::Vector4f& plane_params);
71 
72  /**
73  * \brief return the current plane parameters
74  * \return the current plane parameters
75  */
76  const Eigen::Vector4f& getPlaneParameters () const;
77 
78  virtual bool
79  clipPoint3D (const PointT& point) const;
80 
81  virtual bool
82  clipLineSegment3D (PointT& from, PointT& to) const;
83 
84  virtual void
85  clipPlanarPolygon3D (std::vector<PointT>& polygon) const;
86 
87  virtual void
88  clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const;
89 
90  virtual void
91  clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, std::vector<int>& clipped, const std::vector<int>& indices = std::vector<int> ()) const;
92 
93  virtual Clipper3D<PointT>*
94  clone () const;
95 
96  protected:
97  float
98  getDistance (const PointT& point) const;
99 
100  private:
101  Eigen::Vector4f plane_params_;
102  };
103 }
104 
105 #ifdef PCL_NO_PRECOMPILE
106 #include <pcl/filters/impl/plane_clipper3D.hpp>
107 #endif
108 
109 #endif // PCL_PLANE_CLIPPER3D_H_