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 the unit cube centered at origin and with an extend of -1 to +1 in each dimension. More...
#include <pcl/filters/box_clipper3D.h>
Public Types |
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| using | Ptr = shared_ptr< BoxClipper3D< PointT > > |
| using | ConstPtr = shared_ptr< const BoxClipper3D< PointT > > |
 Public Types inherited from pcl::Clipper3D< PointT > |
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| using | Ptr = shared_ptr< Clipper3D< PointT > > |
| using | ConstPtr = shared_ptr< const Clipper3D< PointT > > |
Public Member Functions |
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| BoxClipper3D (const Eigen::Affine3f &transformation) | |
| Constructor taking an affine transformation matrix, which allows also shearing of the clipping area. More... |
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| 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 More... |
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| void | setTransformation (const Eigen::Affine3f &transformation) |
| Set the affine transformation. More... |
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| 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 More... |
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| ~BoxClipper3D () noexcept | |
| virtual destructor More... |
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| bool | clipPoint3D (const PointT &point) const override |
| interface to clip a single point More... |
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| 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 More... |
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| Clipper3D< PointT > * | clone () const override |
| polymorphic method to clone the underlying clipper with its parameters. More... |
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| Public Member Functions inherited from pcl::Clipper3D< PointT > |
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| virtual | ~Clipper3D () noexcept |
| virtual destructor. More... |
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Protected Member Functions |
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| 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 the unit cube centered at origin and with an extend of -1 to +1 in each dimension.
Definition at line 53 of file box_clipper3D.h.
Member Typedef Documentation
ConstPtr
| using pcl::BoxClipper3D< PointT >::ConstPtr = shared_ptr<const BoxClipper3D<PointT> > |
Definition at line 58 of file box_clipper3D.h.
Ptr
| using pcl::BoxClipper3D< PointT >::Ptr = shared_ptr<BoxClipper3D<PointT> > |
Definition at line 57 of file box_clipper3D.h.
Constructor & Destructor Documentation
BoxClipper3D() [1/2]
| pcl::BoxClipper3D< PointT >::BoxClipper3D | ( | const Eigen::Affine3f & | transformation | ) |
Constructor taking an affine transformation matrix, which allows also shearing of the clipping area.
- Parameters
-
[in] transformation the 3x3 affine transformation matrix that is used to describe the unit cube
Definition at line 41 of file box_clipper3D.hpp.
BoxClipper3D() [2/2]
| 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 49 of file box_clipper3D.hpp.
~BoxClipper3D()
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noexcept |
virtual destructor
Definition at line 56 of file box_clipper3D.hpp.
Member Function Documentation
clipLineSegment3D()
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overridevirtual |
- Attention
- untested code
Implements pcl::Clipper3D< PointT >.
Definition at line 123 of file box_clipper3D.hpp.
clipPlanarPolygon3D() [1/2]
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overridevirtual |
- Attention
- untested code
Implements pcl::Clipper3D< PointT >.
Definition at line 177 of file box_clipper3D.hpp.
clipPlanarPolygon3D() [2/2]
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overridevirtual |
- Attention
- untested code
Implements pcl::Clipper3D< PointT >.
Definition at line 189 of file box_clipper3D.hpp.
clipPoint3D()
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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 111 of file box_clipper3D.hpp.
clipPointCloud3D()
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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 199 of file box_clipper3D.hpp.
References pcl::PointCloud< PointT >::size().
clone()
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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 78 of file box_clipper3D.hpp.
getDistance()
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protected |
setTransformation() [1/2]
| void pcl::BoxClipper3D< PointT >::setTransformation | ( | const Eigen::Affine3f & | transformation | ) |
Set the affine transformation.
- Parameters
-
[in] transformation
Definition at line 62 of file box_clipper3D.hpp.
setTransformation() [2/2]
| 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 70 of file box_clipper3D.hpp.
transformPoint()
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protected |
Definition at line 85 of file box_clipper3D.hpp.
The documentation for this class was generated from the following files:
- pcl/filters/box_clipper3D.h
- pcl/filters/impl/box_clipper3D.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_box_clipper3_d.html
