Point Cloud Library (PCL) 1.14.0
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plane_clipper3D.h
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37
38#pragma once
39
40#include "clipper3D.h"
41
42namespace 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
58
59 /**
60 * @author Suat Gedikli <gedikli@willowgarage.com>
61 * @brief Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f
62 * @param[in] plane_params plane parameters, need not necessarily be normalized
63 */
64 PlaneClipper3D (const Eigen::Vector4f& plane_params);
65
66 virtual ~PlaneClipper3D () noexcept = default;
67
68 /**
69 * \brief Set new plane parameters
70 * \param plane_params
71 */
72 void setPlaneParameters (const Eigen::Vector4f& plane_params);
73
74 /**
75 * \brief return the current plane parameters
76 * \return the current plane parameters
77 */
78 const Eigen::Vector4f& getPlaneParameters () const;
79
80 virtual bool
81 clipPoint3D (const PointT& point) const;
82
83 virtual bool
84 clipLineSegment3D (PointT& from, PointT& to) const;
85
86 virtual void
87 clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const;
88
89 virtual void
90 clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const;
91
92 virtual void
93 clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, Indices& clipped, const Indices& indices = Indices ()) const;
94
95 virtual Clipper3D<PointT>*
96 clone () const;
97
98 protected:
99 float
100 getDistance (const PointT& point) const;
101
102 private:
103 Eigen::Vector4f plane_params_;
104 };
105}
106
107#include <pcl/filters/impl/plane_clipper3D.hpp>
Base class for 3D clipper objects.
Definition clipper3D.h:55
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
shared_ptr< const PlaneClipper3D< PointT > > ConstPtr
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
shared_ptr< PlaneClipper3D< PointT > > Ptr
virtual void clipPointCloud3D(const pcl::PointCloud< PointT > &cloud_in, Indices &clipped, const Indices &indices=Indices()) const
interface to clip a point cloud
virtual ~PlaneClipper3D() noexcept=default
float getDistance(const PointT &point) const
PointCloud represents the base class in PCL for storing collections of 3D points.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
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.