Point Cloud Library (PCL)  1.12.1-dev
plane_clipper3D.h
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37 
38 #pragma once
39 
40 #include "clipper3D.h"
41 
42 namespace pcl
43 {
44  /**
45  * @author Suat Gedikli <gedikli@willowgarage.com>
46  * @brief Implementation of a plane clipper in 3D
47  * \ingroup filters
48  */
49  template<typename PointT>
50  class PlaneClipper3D : public Clipper3D<PointT>
51  {
52  public:
53 
54  using Ptr = shared_ptr< PlaneClipper3D<PointT> >;
55  using ConstPtr = shared_ptr< const PlaneClipper3D<PointT> >;
56 
58 
59  /**
60  * @author Suat Gedikli <gedikli@willowgarage.com>
61  * @brief Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f
62  * @param[in] plane_params plane parameters, need not necessarily be normalized
63  */
64  PlaneClipper3D (const Eigen::Vector4f& plane_params);
65 
66  virtual ~PlaneClipper3D () noexcept;
67 
68  /**
69  * \brief Set new plane parameters
70  * \param plane_params
71  */
72  void setPlaneParameters (const Eigen::Vector4f& plane_params);
73 
74  /**
75  * \brief return the current plane parameters
76  * \return the current plane parameters
77  */
78  const Eigen::Vector4f& getPlaneParameters () const;
79 
80  virtual bool
81  clipPoint3D (const PointT& point) const;
82 
83  virtual bool
84  clipLineSegment3D (PointT& from, PointT& to) const;
85 
86  virtual void
87  clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const;
88 
89  virtual void
90  clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const;
91 
92  virtual void
93  clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, Indices& clipped, const Indices& indices = Indices ()) const;
94 
95  virtual Clipper3D<PointT>*
96  clone () const;
97 
98  protected:
99  float
100  getDistance (const PointT& point) const;
101 
102  private:
103  Eigen::Vector4f plane_params_;
104  };
105 }
106 
107 #include <pcl/filters/impl/plane_clipper3D.hpp>
Base class for 3D clipper objects.
Definition: clipper3D.h:55
shared_ptr< const Clipper3D< PointT > > ConstPtr
Definition: clipper3D.h:58
shared_ptr< Clipper3D< PointT > > Ptr
Definition: clipper3D.h:57
Implementation of a plane clipper in 3D.
void setPlaneParameters(const Eigen::Vector4f &plane_params)
Set new plane parameters.
const Eigen::Vector4f & getPlaneParameters() const
return the current plane parameters
virtual bool clipPoint3D(const PointT &point) const
interface to clip a single point
virtual ~PlaneClipper3D() noexcept
virtual Clipper3D< PointT > * clone() const
polymorphic method to clone the underlying clipper with its parameters.
virtual bool clipLineSegment3D(PointT &from, PointT &to) const
virtual void clipPlanarPolygon3D(std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const
virtual void clipPointCloud3D(const pcl::PointCloud< PointT > &cloud_in, Indices &clipped, const Indices &indices=Indices()) const
interface to clip a point cloud
PlaneClipper3D(const Eigen::Vector4f &plane_params)
Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f.
float getDistance(const PointT &point) const
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
Definition: bfgs.h:10
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.