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 >:

Collaboration diagram for pcl::TfQuadraticXYZComparison< PointT >:

Public Types
using	Ptr = shared_ptr< TfQuadraticXYZComparison< PointT > >

using	ConstPtr = shared_ptr< const TfQuadraticXYZComparison< PointT > >

Public Types inherited from pcl::ComparisonBase< PointT >
using	Ptr = shared_ptr< ComparisonBase< PointT > >

using	ConstPtr = shared_ptr< const ComparisonBase< PointT > >

Public Member Functions
	TfQuadraticXYZComparison ()
	Constructor. More...

	~TfQuadraticXYZComparison () override=default
	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 ()=default
	Constructor. More...

virtual	~ComparisonBase ()=default
	Destructor. More...

bool	isCapable () const
	Return if the comparison is capable. More...

Protected Attributes
Eigen::Matrix4f	comp_matr_

Eigen::Vector4f	comp_vect_

float	comp_scalar_

Protected Attributes inherited from pcl::ComparisonBase< PointT >
bool	capable_ {false}
	True if capable. More...

std::string	field_name_
	Field name to compare data on. More...

std::uint32_t	offset_ {0}
	The data offset. More...

ComparisonOps::CompareOp	op_ {ComparisonOps::GT}
	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 radius and length, three comparisons need to be combined as AND condition:

side: A = [0 0 0, 0 1 0, 0 0 1]; v = [0, 0, 0]; c = -radius²; OP = LT (meaning "<")
bottom base: A = 0; v = [0.5, 0, 0]; c = -x_min; OP = GT
top base: A = 0; v = [0.5, 0, 0]; c = -x_max; OP = LT

Author: Julian Löchner

Definition at line 311 of file conditional_removal.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::TfQuadraticXYZComparison< PointT >::ConstPtr = shared_ptr<const TfQuadraticXYZComparison<PointT> >

Definition at line 317 of file conditional_removal.h.

◆ Ptr

template<typename PointT >

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

Definition at line 316 of file conditional_removal.h.

Constructor & Destructor Documentation

◆ TfQuadraticXYZComparison() [1/2]

template<typename PointT >

pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison

Constructor.

Definition at line 369 of file conditional_removal.hpp.

References pcl::ComparisonBase< PointT >::capable_, pcl::TfQuadraticXYZComparison< PointT >::comp_matr_, pcl::TfQuadraticXYZComparison< PointT >::comp_vect_, pcl::ComparisonOps::EQ, and pcl::ComparisonBase< PointT >::op_.

◆ ~TfQuadraticXYZComparison()

template<typename PointT >

pcl::TfQuadraticXYZComparison< PointT >::~TfQuadraticXYZComparison ( )

overridedefault

Empty destructor.

◆ TfQuadraticXYZComparison() [2/2]

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

op	the operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_matrix	the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_vector	the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_scalar	the scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_transform	the transformation of the comparison.

Definition at line 427 of file conditional_removal.hpp.

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

Member Function Documentation

◆ evaluate()

template<typename PointT >

bool pcl::TfQuadraticXYZComparison< PointT >::evaluate ( const PointT & point ) const

overridevirtual

Determine the result of this comparison.

Parameters

point the point to evaluate

Returns: the result of this comparison.

Implements pcl::ComparisonBase< PointT >.

Definition at line 490 of file conditional_removal.hpp.

References pcl::ComparisonOps::EQ, pcl::ComparisonOps::GE, pcl::ComparisonOps::GT, pcl::ComparisonOps::LE, and pcl::ComparisonOps::LT.

◆ setComparisonMatrix() [1/2]

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 348 of file conditional_removal.h.

References pcl::TfQuadraticXYZComparison< PointT >::comp_matr_.

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

◆ setComparisonMatrix() [2/2]

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 360 of file conditional_removal.h.

References pcl::TfQuadraticXYZComparison< PointT >::comp_matr_.

◆ setComparisonOperator()

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 340 of file conditional_removal.h.

References pcl::ComparisonBase< PointT >::op_.

◆ setComparisonScalar()

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 387 of file conditional_removal.h.

References pcl::TfQuadraticXYZComparison< PointT >::comp_scalar_.

◆ setComparisonVector() [1/2]

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 369 of file conditional_removal.h.

References pcl::TfQuadraticXYZComparison< PointT >::comp_vect_.

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

◆ setComparisonVector() [2/2]

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 378 of file conditional_removal.h.

References pcl::TfQuadraticXYZComparison< PointT >::comp_vect_.

◆ transformComparison() [1/2]

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

transform the transformation (rotation and translation) as an affine matrix.

Definition at line 418 of file conditional_removal.h.

References pcl::TfQuadraticXYZComparison< PointT >::transformComparison().

◆ transformComparison() [2/2]

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

transform the transformation (rotation and translation) as an affine matrix.

Definition at line 402 of file conditional_removal.h.

References pcl::TfQuadraticXYZComparison< PointT >::comp_matr_, and pcl::TfQuadraticXYZComparison< PointT >::comp_vect_.

Referenced by pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison(), and pcl::TfQuadraticXYZComparison< PointT >::transformComparison().