Point Cloud Library (PCL)
1.3.1
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: crop_box.hpp 3277 2011-11-30 17:15:41Z mdixon $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FILTERS_IMPL_CROP_BOX_H_ 00039 #define PCL_FILTERS_IMPL_CROP_BOX_H_ 00040 00041 #include "pcl/filters/crop_box.h" 00042 00043 00045 template<typename PointT> 00046 void 00047 pcl::CropBox<PointT>::applyFilter (PointCloud &output) 00048 { 00049 output.resize (input_->points.size ()); 00050 int indice_count = 0; 00051 00052 Eigen::Affine3f transform = Eigen::Affine3f::Identity(); 00053 Eigen::Affine3f inverse_transform = Eigen::Affine3f::Identity(); 00054 00055 if (rotation_ != Eigen::Vector3f::Zero ()) 00056 { 00057 pcl::getTransformation (0, 0, 0, 00058 rotation_ (0), rotation_ (1), rotation_ (2), 00059 transform); 00060 inverse_transform = transform.inverse(); 00061 } 00062 00063 for (size_t index = 0; index < indices_->size (); ++index) 00064 { 00065 // Get local point 00066 PointT local_pt = input_->points[(*indices_)[index]]; 00067 00068 // Transform point to world space 00069 if (!(transform_.matrix().isIdentity())) 00070 local_pt = pcl::transformPoint<PointT> (local_pt, transform_); 00071 00072 if (translation_ != Eigen::Vector3f::Zero ()) 00073 { 00074 local_pt.x -= translation_ (0); 00075 local_pt.y -= translation_ (1); 00076 local_pt.z -= translation_ (2); 00077 } 00078 00079 // Transform point to local space of crop box 00080 if (!(inverse_transform.matrix().isIdentity())) 00081 local_pt = pcl::transformPoint<PointT> (local_pt, inverse_transform); 00082 00083 if (local_pt.x < min_pt_[0] || local_pt.y < min_pt_[1] || local_pt.z < min_pt_[2]) 00084 continue; 00085 if (local_pt.x > max_pt_[0] || local_pt.y > max_pt_[1] || local_pt.z > max_pt_[2]) 00086 continue; 00087 00088 output.points[indice_count++] = input_->points[(*indices_)[index]]; 00089 } 00090 output.width = indice_count; 00091 output.height = 1; 00092 output.resize (output.width * output.height); 00093 } 00094 00096 template<typename PointT> void 00097 pcl::CropBox<PointT>::applyFilter (std::vector<int> &indices) 00098 { 00099 indices.resize (input_->points.size ()); 00100 int indice_count = 0; 00101 00102 Eigen::Affine3f transform = Eigen::Affine3f::Identity(); 00103 Eigen::Affine3f inverse_transform = Eigen::Affine3f::Identity(); 00104 00105 if (rotation_ != Eigen::Vector3f::Zero ()) 00106 { 00107 pcl::getTransformation (0, 0, 0, 00108 rotation_ (0), rotation_ (1), rotation_ (2), 00109 transform); 00110 inverse_transform = transform.inverse(); 00111 } 00112 00113 for (size_t index = 0; index < indices_->size (); ++index) 00114 { 00115 // Get local point 00116 PointT local_pt = input_->points[(*indices_)[index]]; 00117 00118 // Transform point to world space 00119 if (!(transform_.matrix().isIdentity())) 00120 local_pt = pcl::transformPoint<PointT> (local_pt, transform_); 00121 00122 if (translation_ != Eigen::Vector3f::Zero ()) 00123 { 00124 local_pt.x -= translation_ (0); 00125 local_pt.y -= translation_ (1); 00126 local_pt.z -= translation_ (2); 00127 } 00128 00129 // Transform point to local space of crop box 00130 if (!(inverse_transform.matrix().isIdentity())) 00131 local_pt = pcl::transformPoint<PointT> (local_pt, inverse_transform); 00132 00133 if (local_pt.x < min_pt_[0] || local_pt.y < min_pt_[1] || local_pt.z < min_pt_[2]) 00134 continue; 00135 if (local_pt.x > max_pt_[0] || local_pt.y > max_pt_[1] || local_pt.z > max_pt_[2]) 00136 continue; 00137 00138 indices[indice_count++] = (*indices_)[index]; 00139 } 00140 indices.resize (indice_count); 00141 } 00142 00143 #define PCL_INSTANTIATE_CropBox(T) template class PCL_EXPORTS pcl::CropBox<T>; 00144 00145 #endif // PCL_FILTERS_IMPL_CROP_BOX_H_