Point Cloud Library (PCL)  1.11.1-dev
crop_box.hpp
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37  * $Id: extract_indices.hpp 1897 2011-07-26 20:35:49Z rusu $
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40 
41 #ifndef PCL_FILTERS_IMPL_CROP_BOX_H_
42 #define PCL_FILTERS_IMPL_CROP_BOX_H_
43 
44 #include <pcl/filters/crop_box.h>
45 #include <pcl/common/eigen.h> // for getTransformation
46 #include <pcl/common/point_tests.h> // for isFinite
47 #include <pcl/common/transforms.h> // for transformPoint
48 
49 ///////////////////////////////////////////////////////////////////////////////
50 template<typename PointT> void
52 {
53  indices.resize (input_->size ());
54  removed_indices_->resize (input_->size ());
55  int indices_count = 0;
56  int removed_indices_count = 0;
57 
58  Eigen::Affine3f transform = Eigen::Affine3f::Identity ();
59  Eigen::Affine3f inverse_transform = Eigen::Affine3f::Identity ();
60 
61  if (rotation_ != Eigen::Vector3f::Zero ())
62  {
63  pcl::getTransformation (0, 0, 0,
64  rotation_ (0), rotation_ (1), rotation_ (2),
65  transform);
66  inverse_transform = transform.inverse ();
67  }
68 
69  bool transform_matrix_is_identity = transform_.matrix ().isIdentity ();
70  bool translation_is_zero = (translation_ == Eigen::Vector3f::Zero ());
71  bool inverse_transform_matrix_is_identity = inverse_transform.matrix ().isIdentity ();
72 
73  for (const auto index : *indices_)
74  {
75  if (!input_->is_dense)
76  // Check if the point is invalid
77  if (!isFinite ((*input_)[index]))
78  continue;
79 
80  // Get local point
81  PointT local_pt = (*input_)[index];
82 
83  // Transform point to world space
84  if (!transform_matrix_is_identity)
85  local_pt = pcl::transformPoint<PointT> (local_pt, transform_);
86 
87  if (!translation_is_zero)
88  {
89  local_pt.x -= translation_ (0);
90  local_pt.y -= translation_ (1);
91  local_pt.z -= translation_ (2);
92  }
93 
94  // Transform point to local space of crop box
95  if (!inverse_transform_matrix_is_identity)
96  local_pt = pcl::transformPoint<PointT> (local_pt, inverse_transform);
97 
98  // If outside the cropbox
99  if ( (local_pt.x < min_pt_[0] || local_pt.y < min_pt_[1] || local_pt.z < min_pt_[2]) ||
100  (local_pt.x > max_pt_[0] || local_pt.y > max_pt_[1] || local_pt.z > max_pt_[2]))
101  {
102  if (negative_)
103  indices[indices_count++] = index;
104  else if (extract_removed_indices_)
105  (*removed_indices_)[removed_indices_count++] = static_cast<int> (index);
106  }
107  // If inside the cropbox
108  else
109  {
110  if (negative_ && extract_removed_indices_)
111  (*removed_indices_)[removed_indices_count++] = static_cast<int> (index);
112  else if (!negative_)
113  indices[indices_count++] = index;
114  }
115  }
116  indices.resize (indices_count);
117  removed_indices_->resize (removed_indices_count);
118 }
119 
120 #define PCL_INSTANTIATE_CropBox(T) template class PCL_EXPORTS pcl::CropBox<T>;
121 
122 #endif // PCL_FILTERS_IMPL_CROP_BOX_H_
pcl::isFinite
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:55
pcl::CropBox::applyFilter
void applyFilter(Indices &indices) override
Sample of point indices.
Definition: crop_box.hpp:51
pcl::getTransformation
void getTransformation(Scalar x, Scalar y, Scalar z, Scalar roll, Scalar pitch, Scalar yaw, Eigen::Transform< Scalar, 3, Eigen::Affine > &t)
Create a transformation from the given translation and Euler angles (XYZ-convention)
Definition: eigen.hpp:608
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:630
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133