Point Cloud Library (PCL)
1.11.1-dev
|
42 #include <pcl/filters/filter_indices.h>
52 template<
typename Po
intT>
63 using Ptr = shared_ptr<CropBox<PointT> >;
64 using ConstPtr = shared_ptr<const CropBox<PointT> >;
69 CropBox (
bool extract_removed_indices =
false) :
71 min_pt_ (
Eigen::Vector4f (-1, -1, -1, 1)),
72 max_pt_ (
Eigen::Vector4f (1, 1, 1, 1)),
73 rotation_ (
Eigen::Vector3f::Zero ()),
74 translation_ (
Eigen::Vector3f::Zero ()),
75 transform_ (
Eigen::Affine3f::Identity ())
84 setMin (
const Eigen::Vector4f &min_pt)
92 inline Eigen::Vector4f
110 inline Eigen::Vector4f
122 translation_ = translation;
129 return (translation_);
138 rotation_ = rotation;
142 inline Eigen::Vector3f
154 transform_ = transform;
158 inline Eigen::Affine3f
181 Eigen::Vector4f min_pt_;
183 Eigen::Vector4f max_pt_;
185 Eigen::Vector3f rotation_;
187 Eigen::Vector3f translation_;
189 Eigen::Affine3f transform_;
213 CropBox (
bool extract_removed_indices =
false) :
215 min_pt_(
Eigen::Vector4f (-1, -1, -1, 1)),
216 max_pt_(
Eigen::Vector4f (1, 1, 1, 1)),
217 translation_ (
Eigen::Vector3f::Zero ()),
218 rotation_ (
Eigen::Vector3f::Zero ()),
219 transform_(
Eigen::Affine3f::Identity ())
221 filter_name_ =
"CropBox";
236 inline Eigen::Vector4f
254 inline Eigen::Vector4f
266 translation_ = translation;
270 inline Eigen::Vector3f
273 return (translation_);
282 rotation_ = rotation;
286 inline Eigen::Vector3f
298 transform_ = transform;
302 inline Eigen::Affine3f
319 applyFilter (
Indices &indices)
override;
334 #ifdef PCL_NO_PRECOMPILE
335 #include <pcl/filters/impl/crop_box.hpp>
Eigen::Affine3f transform_
The affine transform applied to the cloud.
typename PointCloud::ConstPtr PointCloudConstPtr
shared_ptr< CropBox< PointT > > Ptr
typename PointCloud::Ptr PointCloudPtr
shared_ptr< ::pcl::PCLPointCloud2 > Ptr
Eigen::Vector4f max_pt_
The maximum point of the box.
void setTransform(const Eigen::Affine3f &transform)
Set a transformation that should be applied to the cloud before filtering.
Eigen::Vector3f getTranslation() const
Get the value of the box translation parameter as set by the user.
void applyFilter(Indices &indices) override
Sample of point indices.
Eigen::Vector4f getMax() const
Get the value of the maxiomum point of the box, as set by the user.
Eigen::Vector4f getMin() const
Get the value of the minimum point of the box, as set by the user.
PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
CropBox is a filter that allows the user to filter all the data inside of a given box.
PointCloud represents the base class in PCL for storing collections of 3D points.
Eigen::Vector4f getMax() const
Get the value of the maximum point of the box, as set by the user.
Eigen::Affine3f getTransform() const
Get the value of the transformation parameter, as set by the user.
A point structure representing Euclidean xyz coordinates, and the RGB color.
void setMax(const Eigen::Vector4f &max_pt)
Set the maximum point of the box.
CropBox(bool extract_removed_indices=false)
Constructor.
Eigen::Vector3f getRotation() const
Get the value of the box rotatation parameter, as set by the user.
PCLPointCloud2::Ptr PCLPointCloud2Ptr
Eigen::Vector4f getMin() const
Get the value of the minimum point of the box, as set by the user.
Eigen::Vector4f min_pt_
The minimum point of the box.
void setTranslation(const Eigen::Vector3f &translation)
Set a translation value for the box.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
void setTransform(const Eigen::Affine3f &transform)
Set a transformation that should be applied to the cloud before filtering.
void setRotation(const Eigen::Vector3f &rotation)
Set a rotation value for the box.
shared_ptr< const CropBox< PointT > > ConstPtr
Eigen::Vector3f rotation_
The 3D rotation for the box.
Eigen::Vector3f translation_
The 3D translation for the box.
FilterIndices represents the base class for filters that are about binary point removal.
Filter represents the base filter class.
IndicesAllocator<> Indices
Type used for indices in PCL.
CropBox(bool extract_removed_indices=false)
Constructor.
void setMin(const Eigen::Vector4f &min_pt)
Set the minimum point of the box.
void setRotation(const Eigen::Vector3f &rotation)
Set a rotation value for the box.
std::string filter_name_
The filter name.
shared_ptr< PointCloud< PointT > > Ptr
Eigen::Vector3f getRotation() const
Get the value of the box rotatation parameter, as set by the user.
void setTranslation(const Eigen::Vector3f &translation)
Set a translation value for the box.
shared_ptr< const PointCloud< PointT > > ConstPtr
Eigen::Vector3f getTranslation() const
Get the value of the box translation parameter as set by the user.
void setMin(const Eigen::Vector4f &min_pt)
Set the minimum point of the box.
void setMax(const Eigen::Vector4f &max_pt)
Set the maximum point of the box.
Eigen::Affine3f getTransform() const
Get the value of the transformation parameter, as set by the user.