Point Cloud Library (PCL)  1.9.1-dev
box_clipper3D.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_macros.h>
41 #include "clipper3D.h"
42 
43 namespace pcl
44 {
45  /**
46  * \author Suat Gedikli <gedikli@willowgarage.com>
47  * \brief Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelepiped in general pose.
48  * The affine transformation is used to transform the point before clipping it using the unit cube centered at origin and with an extend of -1 to +1 in each dimension
49  * \ingroup filters
50  */
51  template<typename PointT>
52  class BoxClipper3D : public Clipper3D<PointT>
53  {
54  public:
55 
56  using Ptr = boost::shared_ptr<BoxClipper3D<PointT> >;
57  using ConstPtr = boost::shared_ptr<const BoxClipper3D<PointT> >;
58 
59 
60  /**
61  * \author Suat Gedikli <gedikli@willowgarage.com>
62  * \brief Constructor taking an affine transformation matrix, which allows also shearing of the clipping area
63  * \param[in] transformation the 3x3 affine transformation matrix that is used to describe the unit cube
64  */
65  BoxClipper3D (const Eigen::Affine3f& transformation);
66 
67  /**
68  * \brief creates a BoxClipper object with a scaled box in general pose
69  * \param[in] rodrigues the rotation axis and angle given by the vector direction and length respectively
70  * \param[in] translation the position of the box center
71  * \param[in] box_size the size of the box for each dimension
72  */
73  BoxClipper3D (const Eigen::Vector3f& rodrigues, const Eigen::Vector3f& translation, const Eigen::Vector3f& box_size);
74 
75  /**
76  * \brief Set the affine transformation
77  * \param[in] transformation
78  */
79  void setTransformation (const Eigen::Affine3f& transformation);
80 
81  /**
82  * \brief sets the box in general pose given by the orientation position and size
83  * \param[in] rodrigues the rotation axis and angle given by the vector direction and length respectively
84  * \param[in] translation the position of the box center
85  * \param[in] box_size the size of the box for each dimension
86  */
87  void setTransformation (const Eigen::Vector3f& rodrigues, const Eigen::Vector3f& translation, const Eigen::Vector3f& box_size);
88 
89  /**
90  * \brief virtual destructor
91  */
92  ~BoxClipper3D () throw ();
93 
94  bool
95  clipPoint3D (const PointT& point) const override;
96 
97  bool
98  clipLineSegment3D (PointT& from, PointT& to) const override;
99 
100  void
101  clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const override;
102 
103  void
104  clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const override;
105 
106  void
107  clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, std::vector<int>& clipped, const std::vector<int>& indices = std::vector<int> ()) const override;
108 
109  Clipper3D<PointT>*
110  clone () const override;
111 
112  protected:
113  float getDistance (const PointT& point) const;
114  void transformPoint (const PointT& pointIn, PointT& pointOut) const;
115  private:
116  /**
117  * \brief the affine transformation that is applied before clipping is done on the unit cube.
118  */
119  Eigen::Affine3f transformation_;
120 
121  public:
123  };
124 }
125 
126 #include <pcl/filters/impl/box_clipper3D.hpp>
float getDistance(const PointT &point) const
void transformPoint(const PointT &pointIn, PointT &pointOut) const
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
BoxClipper3D(const Eigen::Affine3f &transformation)
Constructor taking an affine transformation matrix, which allows also shearing of the clipping area...
void clipPlanarPolygon3D(std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const override
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:344
boost::shared_ptr< const BoxClipper3D< PointT > > ConstPtr
Definition: box_clipper3D.h:57
Definition: bfgs.h:9
Clipper3D< PointT > * clone() const override
polymorphic method to clone the underlying clipper with its parameters.
void clipPointCloud3D(const pcl::PointCloud< PointT > &cloud_in, std::vector< int > &clipped, const std::vector< int > &indices=std::vector< int >()) const override
interface to clip a point cloud
Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelep...
Definition: box_clipper3D.h:52
boost::shared_ptr< BoxClipper3D< PointT > > Ptr
Definition: box_clipper3D.h:56
PointCloud represents the base class in PCL for storing collections of 3D points. ...
bool clipPoint3D(const PointT &point) const override
interface to clip a single point
void setTransformation(const Eigen::Affine3f &transformation)
Set the affine transformation.
A point structure representing Euclidean xyz coordinates, and the RGB color.
bool clipLineSegment3D(PointT &from, PointT &to) const override
~BoxClipper3D()
virtual destructor
Base class for 3D clipper objects.
Definition: clipper3D.h:53