Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelepiped in general pose. The affine transformation is used to transform the point before clipping it using a cube centered at origin and with an extend of -1 to +1 in each dimension. More...

#include <pcl/filters/box_clipper3D.h>

Inheritance diagram for pcl::BoxClipper3D< PointT >:

Collaboration diagram for pcl::BoxClipper3D< PointT >:

Public Types
using	Ptr = shared_ptr<BoxClipper3D<PointT> >
using	ConstPtr = shared_ptr<const BoxClipper3D<PointT> >
Public Types inherited from pcl::Clipper3D< PointT >
using	Ptr = shared_ptr<Clipper3D<PointT> >
using	ConstPtr = shared_ptr<const Clipper3D<PointT> >

Public Member Functions
	BoxClipper3D (const Eigen::Affine3f &transformation)
	Constructor taking an affine transformation matrix, which allows also shearing of the clipping area.
	BoxClipper3D (const Eigen::Vector3f &rodrigues, const Eigen::Vector3f &translation, const Eigen::Vector3f &box_size)
	creates a BoxClipper object with a scaled box in general pose
void	setTransformation (const Eigen::Affine3f &transformation)
	Set the affine transformation.
void	setTransformation (const Eigen::Vector3f &rodrigues, const Eigen::Vector3f &translation, const Eigen::Vector3f &box_size)
	sets the box in general pose given by the orientation position and size
	~BoxClipper3D () noexcept override
	virtual destructor
bool	clipPoint3D (const PointT &point) const override
	interface to clip a single point
bool	clipLineSegment3D (PointT &from, PointT &to) const override
void	clipPlanarPolygon3D (std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const override
void	clipPlanarPolygon3D (const std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon, std::vector< PointT, Eigen::aligned_allocator< PointT > > &clipped_polygon) const override
void	clipPointCloud3D (const pcl::PointCloud< PointT > &cloud_in, Indices &clipped, const Indices &indices=Indices()) const override
	interface to clip a point cloud
Clipper3D< PointT > *	clone () const override
	polymorphic method to clone the underlying clipper with its parameters.
Public Member Functions inherited from pcl::Clipper3D< PointT >
virtual	~Clipper3D () noexcept=default
	virtual destructor.

Protected Member Functions
float	getDistance (const PointT &point) const
void	transformPoint (const PointT &pointIn, PointT &pointOut) const

Detailed Description

template<typename PointT>
class pcl::BoxClipper3D< PointT >

Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelepiped in general pose. The affine transformation is used to transform the point before clipping it using a cube centered at origin and with an extend of -1 to +1 in each dimension.

Author: Suat Gedikli gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m

See also: CropBox

Definition at line 54 of file box_clipper3D.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT>

using pcl::BoxClipper3D< PointT >::ConstPtr = shared_ptr<const BoxClipper3D<PointT> >

Definition at line 59 of file box_clipper3D.h.

◆ Ptr

template<typename PointT>

using pcl::BoxClipper3D< PointT >::Ptr = shared_ptr<BoxClipper3D<PointT> >

Definition at line 58 of file box_clipper3D.h.

Constructor & Destructor Documentation

◆ BoxClipper3D() [1/2]

template<typename PointT>

pcl::BoxClipper3D< PointT >::BoxClipper3D ( const Eigen::Affine3f & transformation )

Constructor taking an affine transformation matrix, which allows also shearing of the clipping area.

Author: Suat Gedikli gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m

Parameters

[in] transformation the 3 dimensional affine transformation that is used to describe the cube ([-1; +1] in each dimension). The transformation is applied to the point(s)!

Definition at line 41 of file box_clipper3D.hpp.

Referenced by clone(), and setTransformation().

◆ BoxClipper3D() [2/2]

template<typename PointT>

pcl::BoxClipper3D< PointT >::BoxClipper3D	(	const Eigen::Vector3f &	rodrigues,
		const Eigen::Vector3f &	translation,
		const Eigen::Vector3f &	box_size )

creates a BoxClipper object with a scaled box in general pose

Parameters

[in]	rodrigues	the rotation axis and angle given by the vector direction and length respectively
[in]	translation	the position of the box center
[in]	box_size	the size of the box for each dimension

Definition at line 48 of file box_clipper3D.hpp.

References setTransformation().

◆ ~BoxClipper3D()

template<typename PointT>

pcl::BoxClipper3D< PointT >::~BoxClipper3D ( )

overridedefaultnoexcept

virtual destructor

References clipLineSegment3D(), clipPlanarPolygon3D(), clipPoint3D(), clipPointCloud3D(), and clone().

Member Function Documentation

◆ clipLineSegment3D()

template<typename PointT>

bool pcl::BoxClipper3D< PointT >::clipLineSegment3D	(	PointT &	from,
		PointT &	to ) const

overridevirtual

Attention: untested code

Implements pcl::Clipper3D< PointT >.

Definition at line 119 of file box_clipper3D.hpp.

Referenced by ~BoxClipper3D().

◆ clipPlanarPolygon3D() [1/2]

template<typename PointT>

void pcl::BoxClipper3D< PointT >::clipPlanarPolygon3D	(	const std::vector< PointT, Eigen::aligned_allocator< PointT > > &	polygon,
		std::vector< PointT, Eigen::aligned_allocator< PointT > > &	clipped_polygon ) const

overridevirtual

Attention: untested code

Implements pcl::Clipper3D< PointT >.

Definition at line 173 of file box_clipper3D.hpp.

◆ clipPlanarPolygon3D() [2/2]

template<typename PointT>

void pcl::BoxClipper3D< PointT >::clipPlanarPolygon3D ( std::vector< PointT, Eigen::aligned_allocator< PointT > > & polygon ) const

overridevirtual

Attention: untested code

Implements pcl::Clipper3D< PointT >.

Definition at line 185 of file box_clipper3D.hpp.

Referenced by ~BoxClipper3D().

◆ clipPoint3D()

template<typename PointT>

bool pcl::BoxClipper3D< PointT >::clipPoint3D ( const PointT & point ) const

overridevirtual

interface to clip a single point

Parameters

[in] point the point to check against

Returns: true, it point still exists, false if its clipped

Implements pcl::Clipper3D< PointT >.

Definition at line 107 of file box_clipper3D.hpp.

Referenced by clipPointCloud3D(), and ~BoxClipper3D().

◆ clipPointCloud3D()

template<typename PointT>

void pcl::BoxClipper3D< PointT >::clipPointCloud3D	(	const pcl::PointCloud< PointT > &	cloud_in,
		Indices &	clipped,
		const Indices &	indices = Indices() ) const

overridevirtual

interface to clip a point cloud

Parameters

[in]	cloud_in	input point cloud
[out]	clipped	indices of points that remain after clipping the input cloud
[in]	indices	the indices of points in the point cloud to be clipped.

Returns: list of indices of remaining points after clipping.

Implements pcl::Clipper3D< PointT >.

Definition at line 195 of file box_clipper3D.hpp.

References clipPoint3D(), and pcl::PointCloud< PointT >::size().

Referenced by ~BoxClipper3D().

◆ clone()

template<typename PointT>

pcl::Clipper3D< PointT > * pcl::BoxClipper3D< PointT >::clone ( ) const

overridevirtual

polymorphic method to clone the underlying clipper with its parameters.

Returns: the new clipper object from the specific subclass with all its parameters.

Implements pcl::Clipper3D< PointT >.

Definition at line 74 of file box_clipper3D.hpp.

References BoxClipper3D().

Referenced by ~BoxClipper3D().

◆ getDistance()

template<typename PointT>

float pcl::BoxClipper3D< PointT >::getDistance ( const PointT & point ) const

protected

References getDistance(), PCL_MAKE_ALIGNED_OPERATOR_NEW, and transformPoint().

Referenced by getDistance().

◆ setTransformation() [1/2]

template<typename PointT>

void pcl::BoxClipper3D< PointT >::setTransformation ( const Eigen::Affine3f & transformation )

Set the affine transformation.

Parameters

[in] transformation applied to the point(s)

Definition at line 60 of file box_clipper3D.hpp.

References BoxClipper3D(), and setTransformation().

Referenced by BoxClipper3D(), and setTransformation().

◆ setTransformation() [2/2]

template<typename PointT>

void pcl::BoxClipper3D< PointT >::setTransformation	(	const Eigen::Vector3f &	rodrigues,
		const Eigen::Vector3f &	translation,
		const Eigen::Vector3f &	box_size )

sets the box in general pose given by the orientation position and size

Parameters

[in]	rodrigues	the rotation axis and angle given by the vector direction and length respectively
[in]	translation	the position of the box center
[in]	box_size	the size of the box for each dimension

Definition at line 67 of file box_clipper3D.hpp.

◆ transformPoint()

template<typename PointT>

void pcl::BoxClipper3D< PointT >::transformPoint	(	const PointT &	pointIn,
		PointT &	pointOut ) const

protected

Definition at line 81 of file box_clipper3D.hpp.

Referenced by getDistance().

The documentation for this class was generated from the following files:

pcl/filters/box_clipper3D.h
pcl/filters/impl/box_clipper3D.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ BoxClipper3D() [1/2]

◆ BoxClipper3D() [2/2]

◆ ~BoxClipper3D()

Member Function Documentation

◆ clipLineSegment3D()

◆ clipPlanarPolygon3D() [1/2]

◆ clipPlanarPolygon3D() [2/2]

◆ clipPoint3D()

◆ clipPointCloud3D()

◆ clone()

◆ getDistance()

◆ setTransformation() [1/2]

◆ setTransformation() [2/2]

◆ transformPoint()