Point Cloud Library (PCL)  1.9.1-dev
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pcl::TfQuadraticXYZComparison< PointT > Class Template Reference

A comparison whether the (x,y,z) components of a given point satisfy (p'Ap + 2v'p + c [OP] 0). More...

#include <pcl/filters/conditional_removal.h>

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

Public Types

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

Public Member Functions

 TfQuadraticXYZComparison ()
 Constructor. More...
 
 ~TfQuadraticXYZComparison ()
 Empty destructor. More...
 
 TfQuadraticXYZComparison (const pcl::ComparisonOps::CompareOp op, const Eigen::Matrix3f &comparison_matrix, const Eigen::Vector3f &comparison_vector, const float &comparison_scalar, const Eigen::Affine3f &comparison_transform=Eigen::Affine3f::Identity())
 Constructor. More...
 
void setComparisonOperator (const pcl::ComparisonOps::CompareOp op)
 set the operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0". More...
 
void setComparisonMatrix (const Eigen::Matrix3f &matrix)
 set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0". More...
 
void setComparisonMatrix (const Eigen::Matrix4f &homogeneousMatrix)
 set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0". More...
 
void setComparisonVector (const Eigen::Vector3f &vector)
 set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0". More...
 
void setComparisonVector (const Eigen::Vector4f &homogeneousVector)
 set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0". More...
 
void setComparisonScalar (const float &scalar)
 set the scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0". More...
 
void transformComparison (const Eigen::Matrix4f &transform)
 transform the coordinate system of the comparison. More...
 
void transformComparison (const Eigen::Affine3f &transform)
 transform the coordinate system of the comparison. More...
 
bool evaluate (const PointT &point) const override
 Determine the result of this comparison. More...
 
- Public Member Functions inherited from pcl::ComparisonBase< PointT >
 ComparisonBase ()
 Constructor. More...
 
virtual ~ComparisonBase ()
 Destructor. More...
 
bool isCapable () const
 Return if the comparison is capable. More...
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr< TfQuadraticXYZComparison< PointT > > Ptr
 

Protected Attributes

Eigen::Matrix4f comp_matr_
 
Eigen::Vector4f comp_vect_
 
float comp_scalar_
 
- Protected Attributes inherited from pcl::ComparisonBase< PointT >
bool capable_
 True if capable. More...
 
std::string field_name_
 Field name to compare data on. More...
 
uint32_t offset_
 The data offset. More...
 
ComparisonOps::CompareOp op_
 The comparison operator type. More...
 

Detailed Description

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

A comparison whether the (x,y,z) components of a given point satisfy (p'Ap + 2v'p + c [OP] 0).

Here [OP] stands for the defined pcl::ComparisonOps, i.e. for GT, GE, LT, LE or EQ; p = (x,y,z) is a point of the point cloud; A is 3x3 matrix; v is the 3x1 vector; c is a scalar.

One can also use TfQuadraticXYZComparison for simpler geometric shapes by defining the quadratic parts (i.e. the matrix A) to be zero. By combining different instances of TfQuadraticXYZComparison one can get more complex shapes. For example, to have a simple cylinder (along the x-axis) of specific length one needs three comparisons combined as AND condition:

  1. The cylinder: A = [0 0 0, 0 1 0, 0 0 1]; v = [0, 0, 0]; c = radius²; OP = LT (meaning "<")
  2. X-min limit: A = 0; v = [1, 0, 0]; c = x_min; OP = GT
  3. X-max ...
Author
Julian Löchner

Definition at line 309 of file conditional_removal.h.

Member Typedef Documentation

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

Definition at line 315 of file conditional_removal.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::TfQuadraticXYZComparison< PointT >::~TfQuadraticXYZComparison ( )
inline

Empty destructor.

Definition at line 322 of file conditional_removal.h.

template<typename PointT >
pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison ( const pcl::ComparisonOps::CompareOp  op,
const Eigen::Matrix3f &  comparison_matrix,
const Eigen::Vector3f &  comparison_vector,
const float &  comparison_scalar,
const Eigen::Affine3f &  comparison_transform = Eigen::Affine3f::Identity () 
)

Constructor.

Parameters
opthe operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_matrixthe matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_vectorthe vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_scalarthe scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_transformthe transformation of the comparison.

Definition at line 443 of file conditional_removal.hpp.

References pcl::ComparisonBase< PointT >::capable_, pcl::getFields(), pcl::ComparisonBase< PointT >::op_, pcl::TfQuadraticXYZComparison< PointT >::setComparisonMatrix(), pcl::TfQuadraticXYZComparison< PointT >::setComparisonVector(), and pcl::TfQuadraticXYZComparison< PointT >::transformComparison().

Member Function Documentation

template<typename PointT >
bool pcl::TfQuadraticXYZComparison< PointT >::evaluate ( const PointT point) const
overridevirtual
template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonMatrix ( const Eigen::Matrix3f &  matrix)
inline

set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 346 of file conditional_removal.h.

Referenced by pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison().

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonMatrix ( const Eigen::Matrix4f &  homogeneousMatrix)
inline

set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 358 of file conditional_removal.h.

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonOperator ( const pcl::ComparisonOps::CompareOp  op)
inline

set the operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 338 of file conditional_removal.h.

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonScalar ( const float &  scalar)
inline

set the scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 385 of file conditional_removal.h.

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonVector ( const Eigen::Vector3f &  vector)
inline

set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 367 of file conditional_removal.h.

Referenced by pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison().

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonVector ( const Eigen::Vector4f &  homogeneousVector)
inline

set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".

Definition at line 376 of file conditional_removal.h.

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::transformComparison ( const Eigen::Matrix4f &  transform)
inline

transform the coordinate system of the comparison.

If you think of the transformation to be a translation and rotation of the comparison in the same coordinate system, you have to provide the inverse transformation. This function does not change the original definition of the comparison. Thus, each call of this function will assume the original definition of the comparison as starting point for the transformation.

Parameters
transformthe transformation (rotation and translation) as an affine matrix.

Definition at line 400 of file conditional_removal.h.

Referenced by pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison().

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::transformComparison ( const Eigen::Affine3f &  transform)
inline

transform the coordinate system of the comparison.

If you think of the transformation to be a translation and rotation of the comparison in the same coordinate system, you have to provide the inverse transformation. This function does not change the original definition of the comparison. Thus, each call of this function will assume the original definition of the comparison as starting point for the transformation.

Parameters
transformthe transformation (rotation and translation) as an affine matrix.

Definition at line 416 of file conditional_removal.h.

Member Data Documentation

template<typename PointT >
Eigen::Matrix4f pcl::TfQuadraticXYZComparison< PointT >::comp_matr_
protected
template<typename PointT >
float pcl::TfQuadraticXYZComparison< PointT >::comp_scalar_
protected
template<typename PointT >
Eigen::Vector4f pcl::TfQuadraticXYZComparison< PointT >::comp_vect_
protected
template<typename PointT >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr<TfQuadraticXYZComparison<PointT> > pcl::TfQuadraticXYZComparison< PointT >::Ptr

Definition at line 314 of file conditional_removal.h.


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