Point Cloud Library (PCL)  1.9.1-dev
plane_clipper3D.h
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37 
38 #pragma once
39 
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  using Ptr = boost::shared_ptr< PlaneClipper3D<PointT> >;
55  using ConstPtr = boost::shared_ptr< const PlaneClipper3D<PointT> >;
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, Eigen::aligned_allocator<PointT> >& polygon) const;
86 
87  virtual void
88  clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT, Eigen::aligned_allocator<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 #include <pcl/filters/impl/plane_clipper3D.hpp>
float getDistance(const PointT &point) const
const Eigen::Vector4f & getPlaneParameters() const
return the current plane parameters
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
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
PlaneClipper3D(const Eigen::Vector4f &plane_params)
Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f.
boost::shared_ptr< const Clipper3D< PointT > > ConstPtr
Definition: clipper3D.h:57
virtual bool clipPoint3D(const PointT &point) const
interface to clip a single point
Definition: bfgs.h:9
void setPlaneParameters(const Eigen::Vector4f &plane_params)
Set new plane parameters.
virtual Clipper3D< PointT > * clone() const
polymorphic method to clone the underlying clipper with its parameters.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
virtual void clipPlanarPolygon3D(std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const
boost::shared_ptr< Clipper3D< PointT > > Ptr
Definition: clipper3D.h:56
A point structure representing Euclidean xyz coordinates, and the RGB color.
virtual bool clipLineSegment3D(PointT &from, PointT &to) const
Implementation of a plane clipper in 3D.
Base class for 3D clipper objects.
Definition: clipper3D.h:53