38 #ifndef PCL_BOX_CLIPPER3D_H_ 39 #define PCL_BOX_CLIPPER3D_H_ 40 #include "clipper3D.h" 50 template<
typename Po
intT>
55 typedef boost::shared_ptr< BoxClipper3D<PointT> >
Ptr;
56 typedef boost::shared_ptr< const BoxClipper3D<PointT> >
ConstPtr;
72 BoxClipper3D (
const Eigen::Vector3f& rodrigues,
const Eigen::Vector3f& translation,
const Eigen::Vector3f& box_size);
86 void setTransformation (
const Eigen::Vector3f& rodrigues,
const Eigen::Vector3f& translation,
const Eigen::Vector3f& box_size);
103 clipPlanarPolygon3D (const
std::vector<PointT,
Eigen::aligned_allocator<PointT> >& polygon,
std::vector<PointT,
Eigen::aligned_allocator<PointT> >& clipped_polygon) const;
113 void transformPoint (const PointT& pointIn, PointT& pointOut) const;
118 Eigen::Affine3f transformation_;
121 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
125 #include <pcl/filters/impl/box_clipper3D.hpp> 127 #endif // PCL_BOX_CLIPPER3D_H_ float getDistance(const PointT &point) const
void transformPoint(const PointT &pointIn, PointT &pointOut) const
BoxClipper3D(const Eigen::Affine3f &transformation)
Constructor taking an affine transformation matrix, which allows also shearing of the clipping area...
virtual void clipPlanarPolygon3D(std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const
virtual bool clipLineSegment3D(PointT &from, PointT &to) const
virtual bool clipPoint3D(const PointT &point) const
interface to clip a single point
Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelep...
boost::shared_ptr< const BoxClipper3D< PointT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
virtual Clipper3D< PointT > * clone() const
polymorphic method to clone the underlying clipper with its parameters.
virtual void clipPointCloud3D(const pcl::PointCloud< PointT > &cloud_in, std::vector< int > &clipped, const std::vector< int > &indices=std::vector< int >()) const
interface to clip a point cloud
boost::shared_ptr< BoxClipper3D< PointT > > Ptr
void setTransformation(const Eigen::Affine3f &transformation)
Set the affine transformation.
A point structure representing Euclidean xyz coordinates, and the RGB color.
virtual ~BoxClipper3D()
virtual destructor
Base class for 3D clipper objects.