Point Cloud Library (PCL)  1.12.0
plane_clipper3D.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of the copyright holder(s) nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  */
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 
57  /**
58  * @author Suat Gedikli <gedikli@willowgarage.com>
59  * @brief Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f
60  * @param[in] plane_params plane parameters, need not necessarily be normalized
61  */
62  PlaneClipper3D (const Eigen::Vector4f& plane_params);
63 
64  virtual ~PlaneClipper3D () noexcept;
65 
66  /**
67  * \brief Set new plane parameters
68  * \param plane_params
69  */
70  void setPlaneParameters (const Eigen::Vector4f& plane_params);
71 
72  /**
73  * \brief return the current plane parameters
74  * \return the current plane parameters
75  */
76  const Eigen::Vector4f& getPlaneParameters () const;
77 
78  virtual bool
79  clipPoint3D (const PointT& point) const;
80 
81  virtual bool
82  clipLineSegment3D (PointT& from, PointT& to) const;
83 
84  virtual void
85  clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const;
86 
87  virtual void
88  clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const;
89 
90  virtual void
91  clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, Indices& clipped, const Indices& indices = Indices ()) const;
92 
93  virtual Clipper3D<PointT>*
94  clone () const;
95 
96  protected:
97  float
98  getDistance (const PointT& point) const;
99 
100  private:
101  Eigen::Vector4f plane_params_;
102  };
103 }
104 
105 #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.