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 >:

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 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 53 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 58 of file box_clipper3D.h.

◆ Ptr

template<typename PointT >

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

Definition at line 57 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] transformation the 3x3 affine transformation matrix that is used to describe the unit cube

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]	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.

◆ ~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 122 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 176 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 188 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] point the point to check against

Returns: true, it point still exists, false if its clipped

Implements pcl::Clipper3D< PointT >.

Definition at line 110 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_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.

Returns: list of indices of remaining points after clipping.

Implements pcl::Clipper3D< PointT >.

Definition at line 198 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 77 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] transformation

Definition at line 61 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]	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 69 of file box_clipper3D.hpp.

◆ transformPoint()

template<typename PointT >

void pcl::BoxClipper3D< PointT >::transformPoint	(	const PointT &	pointIn,
		PointT &	pointOut
	)		const

protected

Definition at line 84 of file box_clipper3D.hpp.

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

pcl/filters/box_clipper3D.h
pcl/filters/impl/box_clipper3D.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ BoxClipper3D() [1/2]

◆ BoxClipper3D() [2/2]

◆ ~BoxClipper3D()

Member Function Documentation

◆ clipLineSegment3D()

◆ clipPlanarPolygon3D() [1/2]

◆ clipPlanarPolygon3D() [2/2]

◆ clipPoint3D()

◆ clipPointCloud3D()

◆ clone()

◆ getDistance()

◆ setTransformation() [1/2]

◆ setTransformation() [2/2]

◆ transformPoint()

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