Point Cloud Library (PCL)  1.14.0-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
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 a 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 >:
+ Collaboration diagram for pcl::BoxClipper3D< PointT >:

Public Types

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

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...
 
 ~BoxClipper3D () noexcept override
 virtual destructor More...
 
bool clipPoint3D (const PointT &point) const override
 interface to clip a single point More...
 
bool clipLineSegment3D (PointT &from, PointT &to) const override
 
void clipPlanarPolygon3D (std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const override
 
void clipPlanarPolygon3D (const std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon, std::vector< PointT, Eigen::aligned_allocator< PointT > > &clipped_polygon) const override
 
void clipPointCloud3D (const pcl::PointCloud< PointT > &cloud_in, Indices &clipped, const Indices &indices=Indices()) const override
 interface to clip a point cloud More...
 
Clipper3D< PointT > * clone () const override
 polymorphic method to clone the underlying clipper with its parameters. More...
 
- Public Member Functions inherited from pcl::Clipper3D< PointT >
virtual ~Clipper3D () noexcept=default
 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 a 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
See also
CropBox

Definition at line 54 of file box_clipper3D.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >
using pcl::BoxClipper3D< PointT >::ConstPtr = shared_ptr<const BoxClipper3D<PointT> >

Definition at line 59 of file box_clipper3D.h.

◆ Ptr

template<typename PointT >
using pcl::BoxClipper3D< PointT >::Ptr = shared_ptr<BoxClipper3D<PointT> >

Definition at line 58 of file box_clipper3D.h.

Constructor & Destructor Documentation

◆ BoxClipper3D() [1/2]

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 3 dimensional affine transformation that is used to describe the cube ([-1; +1] in each dimension). The transformation is applied to the point(s)!

Definition at line 41 of file box_clipper3D.hpp.

◆ BoxClipper3D() [2/2]

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 48 of file box_clipper3D.hpp.

◆ ~BoxClipper3D()

template<typename PointT >
pcl::BoxClipper3D< PointT >::~BoxClipper3D ( )
overridedefaultnoexcept

virtual destructor

Member Function Documentation

◆ clipLineSegment3D()

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

Implements pcl::Clipper3D< PointT >.

Definition at line 119 of file box_clipper3D.hpp.

◆ clipPlanarPolygon3D() [1/2]

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
overridevirtual
Attention
untested code

Implements pcl::Clipper3D< PointT >.

Definition at line 173 of file box_clipper3D.hpp.

◆ clipPlanarPolygon3D() [2/2]

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

Implements pcl::Clipper3D< PointT >.

Definition at line 185 of file box_clipper3D.hpp.

◆ clipPoint3D()

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

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 107 of file box_clipper3D.hpp.

◆ clipPointCloud3D()

template<typename PointT >
void pcl::BoxClipper3D< PointT >::clipPointCloud3D ( const pcl::PointCloud< PointT > &  cloud_in,
Indices clipped,
const Indices indices = Indices() 
) const
overridevirtual

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 195 of file box_clipper3D.hpp.

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

◆ clone()

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

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 74 of file box_clipper3D.hpp.

◆ getDistance()

template<typename PointT >
float pcl::BoxClipper3D< PointT >::getDistance ( const PointT point) const
protected

◆ setTransformation() [1/2]

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

Set the affine transformation.

Parameters
[in]transformationapplied to the point(s)

Definition at line 60 of file box_clipper3D.hpp.

◆ setTransformation() [2/2]

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 67 of file box_clipper3D.hpp.

◆ transformPoint()

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

Definition at line 81 of file box_clipper3D.hpp.


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