Point Cloud Library (PCL)  1.8.1-dev
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pcl::BoxClipper3D< PointT > Class Template Reference

Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelepiped in general pose. 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. More...

#include <pcl/filters/box_clipper3D.h>

+ Inheritance diagram for pcl::BoxClipper3D< PointT >:

Public Types

typedef boost::shared_ptr
< BoxClipper3D< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const BoxClipper3D< PointT > > 
ConstPtr
 
- Public Types inherited from pcl::Clipper3D< PointT >
typedef boost::shared_ptr
< Clipper3D< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const Clipper3D< PointT > > 
ConstPtr
 

Public Member Functions

 BoxClipper3D (const Eigen::Affine3f &transformation)
 Constructor taking an affine transformation matrix, which allows also shearing of the clipping area. More...
 
 BoxClipper3D (const Eigen::Vector3f &rodrigues, const Eigen::Vector3f &translation, const Eigen::Vector3f &box_size)
 creates a BoxClipper object with a scaled box in general pose More...
 
void setTransformation (const Eigen::Affine3f &transformation)
 Set the affine transformation. More...
 
void setTransformation (const Eigen::Vector3f &rodrigues, const Eigen::Vector3f &translation, const Eigen::Vector3f &box_size)
 sets the box in general pose given by the orientation position and size More...
 
virtual ~BoxClipper3D () throw ()
 virtual destructor More...
 
virtual bool clipPoint3D (const PointT &point) const
 interface to clip a single point More...
 
virtual bool clipLineSegment3D (PointT &from, PointT &to) const
 
virtual void clipPlanarPolygon3D (std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const
 
virtual void clipPlanarPolygon3D (const std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon, std::vector< PointT, Eigen::aligned_allocator< PointT > > &clipped_polygon) const
 
virtual void clipPointCloud3D (const pcl::PointCloud< PointT > &cloud_in, std::vector< int > &clipped, const std::vector< int > &indices=std::vector< int >()) const
 interface to clip a point cloud More...
 
virtual Clipper3D< PointT > * clone () const
 polymorphic method to clone the underlying clipper with its parameters. More...
 
- Public Member Functions inherited from pcl::Clipper3D< PointT >
virtual ~Clipper3D () throw ()
 virtual destructor. More...
 

Protected Member Functions

float getDistance (const PointT &point) const
 
void transformPoint (const PointT &pointIn, PointT &pointOut) const
 

Detailed Description

template<typename PointT>
class pcl::BoxClipper3D< PointT >

Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelepiped in general pose. 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.

Author
Suat Gedikli gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m

Definition at line 51 of file box_clipper3D.h.

Member Typedef Documentation

template<typename PointT >
typedef boost::shared_ptr< const BoxClipper3D<PointT> > pcl::BoxClipper3D< PointT >::ConstPtr

Definition at line 56 of file box_clipper3D.h.

template<typename PointT >
typedef boost::shared_ptr< BoxClipper3D<PointT> > pcl::BoxClipper3D< PointT >::Ptr

Definition at line 55 of file box_clipper3D.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::BoxClipper3D< PointT >::BoxClipper3D ( const Eigen::Affine3f &  transformation)

Constructor taking an affine transformation matrix, which allows also shearing of the clipping area.

Author
Suat Gedikli gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m
Parameters
[in]transformationthe 3x3 affine transformation matrix that is used to describe the unit cube

Definition at line 41 of file box_clipper3D.hpp.

template<typename PointT >
pcl::BoxClipper3D< PointT >::BoxClipper3D ( const Eigen::Vector3f &  rodrigues,
const Eigen::Vector3f &  translation,
const Eigen::Vector3f &  box_size 
)

creates a BoxClipper object with a scaled box in general pose

Parameters
[in]rodriguesthe rotation axis and angle given by the vector direction and length respectively
[in]translationthe position of the box center
[in]box_sizethe size of the box for each dimension

Definition at line 49 of file box_clipper3D.hpp.

template<typename PointT >
pcl::BoxClipper3D< PointT >::~BoxClipper3D ( )
throw (
)
virtual

virtual destructor

Definition at line 56 of file box_clipper3D.hpp.

Member Function Documentation

template<typename PointT >
bool pcl::BoxClipper3D< PointT >::clipLineSegment3D ( PointT from,
PointT to 
) const
virtual
Attention
untested code

Implements pcl::Clipper3D< PointT >.

Definition at line 123 of file box_clipper3D.hpp.

template<typename PointT >
void pcl::BoxClipper3D< PointT >::clipPlanarPolygon3D ( std::vector< PointT, Eigen::aligned_allocator< PointT > > &  polygon) const
virtual
Attention
untested code

Implements pcl::Clipper3D< PointT >.

Definition at line 189 of file box_clipper3D.hpp.

template<typename PointT >
void pcl::BoxClipper3D< PointT >::clipPlanarPolygon3D ( const std::vector< PointT, Eigen::aligned_allocator< PointT > > &  polygon,
std::vector< PointT, Eigen::aligned_allocator< PointT > > &  clipped_polygon 
) const
virtual
Attention
untested code

Implements pcl::Clipper3D< PointT >.

Definition at line 177 of file box_clipper3D.hpp.

template<typename PointT >
bool pcl::BoxClipper3D< PointT >::clipPoint3D ( const PointT point) const
virtual

interface to clip a single point

Parameters
[in]pointthe point to check against
Returns
true, it point still exists, false if its clipped

Implements pcl::Clipper3D< PointT >.

Definition at line 111 of file box_clipper3D.hpp.

template<typename PointT >
void pcl::BoxClipper3D< PointT >::clipPointCloud3D ( const pcl::PointCloud< PointT > &  cloud_in,
std::vector< int > &  clipped,
const std::vector< int > &  indices = std::vector< int >() 
) const
virtual

interface to clip a point cloud

Parameters
[in]cloud_ininput point cloud
[out]clippedindices of points that remain after clipping the input cloud
[in]indicesthe indices of points in the point cloud to be clipped.
Returns
list of indices of remaining points after clipping.

Implements pcl::Clipper3D< PointT >.

Definition at line 199 of file box_clipper3D.hpp.

References pcl::PointCloud< T >::size().

template<typename PointT >
pcl::Clipper3D< PointT > * pcl::BoxClipper3D< PointT >::clone ( ) const
virtual

polymorphic method to clone the underlying clipper with its parameters.

Returns
the new clipper object from the specific subclass with all its parameters.

Implements pcl::Clipper3D< PointT >.

Definition at line 78 of file box_clipper3D.hpp.

template<typename PointT >
float pcl::BoxClipper3D< PointT >::getDistance ( const PointT point) const
protected
template<typename PointT >
void pcl::BoxClipper3D< PointT >::setTransformation ( const Eigen::Affine3f &  transformation)

Set the affine transformation.

Parameters
[in]transformation

Definition at line 62 of file box_clipper3D.hpp.

template<typename PointT >
void pcl::BoxClipper3D< PointT >::setTransformation ( const Eigen::Vector3f &  rodrigues,
const Eigen::Vector3f &  translation,
const Eigen::Vector3f &  box_size 
)

sets the box in general pose given by the orientation position and size

Parameters
[in]rodriguesthe rotation axis and angle given by the vector direction and length respectively
[in]translationthe position of the box center
[in]box_sizethe size of the box for each dimension

Definition at line 70 of file box_clipper3D.hpp.

template<typename PointT >
void pcl::BoxClipper3D< PointT >::transformPoint ( const PointT pointIn,
PointT pointOut 
) const
protected

Definition at line 85 of file box_clipper3D.hpp.


The documentation for this class was generated from the following files: