35 #ifndef PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP
36 #define PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP
38 #include <pcl/filters/box_clipper3D.h>
40 template<
typename Po
intT>
42 : transformation_ (transformation)
48 template<
typename Po
intT>
51 setTransformation (rodrigues, translation, box_size);
55 template<
typename Po
intT>
61 template<
typename Po
intT>
void
64 transformation_ = transformation;
69 template<
typename Po
intT>
void
72 transformation_ = Eigen::Translation3f (translation) * Eigen::AngleAxisf(rodrigues.norm (), rodrigues.normalized ()) * Eigen::Scaling (box_size);
84 template<
typename Po
intT>
void
87 const Eigen::Vector4f& point = pointIn.getVector4fMap ();
88 pointOut.getVector4fMap () = transformation_ * point;
96 pointOut.x += (1 - point [3]) * transformation_.data () [ 9];
97 pointOut.y += (1 - point [3]) * transformation_.data () [10];
98 pointOut.z += (1 - point [3]) * transformation_.data () [11];
102 pointOut.x += transformation_.data () [ 9];
103 pointOut.y += transformation_.data () [10];
104 pointOut.z += transformation_.data () [11];
110 template<
typename Po
intT>
bool
113 Eigen::Vector4f point_coordinates (transformation_.matrix ()
114 * point.getVector4fMap ());
115 return (point_coordinates.array ().abs () <= 1).all ();
122 template<
typename Po
intT>
bool
168 throw std::logic_error (
"Not implemented");
176 template<
typename Po
intT>
void
180 clipped_polygon.clear ();
181 throw std::logic_error (
"Not implemented");
188 template<
typename Po
intT>
void
193 throw std::logic_error (
"Not implemented");
198 template<
typename Po
intT>
void
202 if (indices.empty ())
204 clipped.reserve (cloud_in.
size ());
205 for (std::size_t pIdx = 0; pIdx < cloud_in.
size (); ++pIdx)
206 if (clipPoint3D (cloud_in[pIdx]))
207 clipped.push_back (pIdx);
211 for (
const auto &index : indices)
212 if (clipPoint3D (cloud_in[index]))
213 clipped.push_back (index);
Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelep...
void transformPoint(const PointT &pointIn, PointT &pointOut) const
Clipper3D< PointT > * clone() const override
polymorphic method to clone the underlying clipper with its parameters.
bool clipLineSegment3D(PointT &from, PointT &to) const override
~BoxClipper3D() noexcept
virtual destructor
bool clipPoint3D(const PointT &point) const override
interface to clip a single point
BoxClipper3D(const Eigen::Affine3f &transformation)
Constructor taking an affine transformation matrix, which allows also shearing of the clipping area.
void clipPlanarPolygon3D(std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const override
void setTransformation(const Eigen::Affine3f &transformation)
Set the affine transformation.
void clipPointCloud3D(const pcl::PointCloud< PointT > &cloud_in, Indices &clipped, const Indices &indices=Indices()) const override
interface to clip a point cloud
Base class for 3D clipper objects.
PointCloud represents the base class in PCL for storing collections of 3D points.
IndicesAllocator<> Indices
Type used for indices in PCL.
A point structure representing Euclidean xyz coordinates, and the RGB color.