Point Cloud Library (PCL)
1.7.2
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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>
Public Types | |
typedef boost::shared_ptr< BoxClipper3D< PointT > > | Ptr |
typedef boost::shared_ptr< const BoxClipper3D< PointT > > | ConstPtr |
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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 > &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... | |
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virtual | ~Clipper3D () throw () |
virtual destructor. More... | |
virtual void | clipPlanarPolygon3D (const std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon, std::vector< PointT, Eigen::aligned_allocator< PointT > > &clipped_polygon) const =0 |
interface to clip a planar polygon given by an ordered list of points More... | |
Protected Member Functions | |
float | getDistance (const PointT &point) const |
void | transformPoint (const PointT &pointIn, PointT &pointOut) const |
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.
Definition at line 51 of file box_clipper3D.h.
typedef boost::shared_ptr< const BoxClipper3D<PointT> > pcl::BoxClipper3D< PointT >::ConstPtr |
Definition at line 56 of file box_clipper3D.h.
typedef boost::shared_ptr< BoxClipper3D<PointT> > pcl::BoxClipper3D< PointT >::Ptr |
Definition at line 55 of file box_clipper3D.h.
pcl::BoxClipper3D< PointT >::BoxClipper3D | ( | const Eigen::Affine3f & | transformation | ) |
Constructor taking an affine transformation matrix, which allows also shearing of the clipping area.
[in] | transformation | the 3x3 affine transformation matrix that is used to describe the unit cube |
Definition at line 41 of file box_clipper3D.hpp.
pcl::BoxClipper3D< PointT >::BoxClipper3D | ( | const Eigen::Vector3f & | rodrigues, |
const Eigen::Vector3f & | translation, | ||
const Eigen::Vector3f & | box_size | ||
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creates a BoxClipper object with a scaled box in general pose
[in] | rodrigues | the rotation axis and angle given by the vector direction and length respectively |
[in] | translation | the position of the box center |
[in] | box_size | the size of the box for each dimension |
Definition at line 49 of file box_clipper3D.hpp.
References pcl::BoxClipper3D< PointT >::setTransformation().
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virtual destructor
Definition at line 56 of file box_clipper3D.hpp.
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Implements pcl::Clipper3D< PointT >.
Definition at line 133 of file box_clipper3D.hpp.
References pcl::BoxClipper3D< PointT >::clipPlanarPolygon3D().
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Implements pcl::Clipper3D< PointT >.
Definition at line 197 of file box_clipper3D.hpp.
Referenced by pcl::BoxClipper3D< PointT >::clipLineSegment3D().
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interface to clip a single point
[in] | point | the point to check against |
Implements pcl::Clipper3D< PointT >.
Definition at line 112 of file box_clipper3D.hpp.
Referenced by pcl::BoxClipper3D< PointT >::clipPointCloud3D().
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interface to clip a point cloud
[in] | cloud_in | input point cloud |
[out] | clipped | indices of points that remain after clipping the input cloud |
[in] | indices | the indices of points in the point cloud to be clipped. |
Implements pcl::Clipper3D< PointT >.
Definition at line 206 of file box_clipper3D.hpp.
References pcl::BoxClipper3D< PointT >::clipPoint3D(), and pcl::PointCloud< PointT >::size().
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polymorphic method to clone the underlying clipper with its parameters.
Implements pcl::Clipper3D< PointT >.
Definition at line 78 of file box_clipper3D.hpp.
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void pcl::BoxClipper3D< PointT >::setTransformation | ( | const Eigen::Affine3f & | transformation | ) |
Set the affine transformation.
[in] | transformation |
Definition at line 62 of file box_clipper3D.hpp.
Referenced by pcl::BoxClipper3D< PointT >::BoxClipper3D().
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
[in] | rodrigues | the rotation axis and angle given by the vector direction and length respectively |
[in] | translation | the position of the box center |
[in] | box_size | the size of the box for each dimension |
Definition at line 70 of file box_clipper3D.hpp.
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Definition at line 85 of file box_clipper3D.hpp.