Point Cloud Library (PCL) 1.15.0
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box_clipper3D.hpp
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34
35#ifndef PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP
36#define PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP
37
38#include <pcl/filters/box_clipper3D.h>
39
40template<typename PointT>
41pcl::BoxClipper3D<PointT>::BoxClipper3D (const Eigen::Affine3f& transformation)
42: transformation_ (transformation)
43{
44}
45
46////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
47template<typename PointT>
48pcl::BoxClipper3D<PointT>::BoxClipper3D (const Eigen::Vector3f& rodrigues, const Eigen::Vector3f& translation, const Eigen::Vector3f& box_size)
49{
50 setTransformation (rodrigues, translation, box_size);
51}
52
53////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
54template<typename PointT>
56= default;
57
58////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
59template<typename PointT> void
60pcl::BoxClipper3D<PointT>::setTransformation (const Eigen::Affine3f& transformation)
61{
62 transformation_ = transformation;
63}
64
65////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
66template<typename PointT> void
67pcl::BoxClipper3D<PointT>::setTransformation (const Eigen::Vector3f& rodrigues, const Eigen::Vector3f& translation, const Eigen::Vector3f& box_size)
68{
69 transformation_ = (Eigen::Translation3f (translation) * Eigen::AngleAxisf(rodrigues.norm (), rodrigues.normalized ()) * Eigen::Scaling (0.5f * box_size)).inverse ();
70}
71
72////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
73template<typename PointT> pcl::Clipper3D<PointT>*
75{
76 return new BoxClipper3D<PointT> (transformation_);
77}
78
79////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
80template<typename PointT> void
82{
83 const Eigen::Vector4f& point = pointIn.getVector4fMap ();
84 pointOut.getVector4fMap () = transformation_ * point;
85
86 // homogeneous value might not be 1
87 if (point [3] != 1)
88 {
89 // homogeneous component might be uninitialized -> invalid
90 if (point [3] != 0)
91 {
92 pointOut.x += (1 - point [3]) * transformation_.data () [ 9];
93 pointOut.y += (1 - point [3]) * transformation_.data () [10];
94 pointOut.z += (1 - point [3]) * transformation_.data () [11];
95 }
96 else
97 {
98 pointOut.x += transformation_.data () [ 9];
99 pointOut.y += transformation_.data () [10];
100 pointOut.z += transformation_.data () [11];
101 }
102 }
103}
104
105////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
106template<typename PointT> bool
108{
109 Eigen::Vector4f point_coordinates (transformation_.matrix ()
110 * point.getVector4fMap ());
111 return (point_coordinates.array ().abs () <= 1).all ();
112}
113
114////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
115/**
116 * @attention untested code
117 */
118template<typename PointT> bool
120{
121 /*
122 PointT pt1, pt2;
123 transformPoint (point1, pt1);
124 transformPoint (point2, pt2);
125
126 //
127 bool pt1InBox = (std::abs(pt1.x) <= 1.0 && std::abs (pt1.y) <= 1.0 && std::abs (pt1.z) <= 1.0);
128 bool pt2InBox = (std::abs(pt2.x) <= 1.0 && std::abs (pt2.y) <= 1.0 && std::abs (pt2.z) <= 1.0);
129
130 // one is outside the other one inside the box
131 //if (pt1InBox ^ pt2InBox)
132 if (pt1InBox && !pt2InBox)
133 {
134 PointT diff;
135 PointT lambda;
136 diff.getVector3fMap () = pt2.getVector3fMap () - pt1.getVector3fMap ();
137
138 if (diff.x > 0)
139 lambda.x = (1.0 - pt1.x) / diff.x;
140 else
141 lambda.x = (-1.0 - pt1.x) / diff.x;
142
143 if (diff.y > 0)
144 lambda.y = (1.0 - pt1.y) / diff.y;
145 else
146 lambda.y = (-1.0 - pt1.y) / diff.y;
147
148 if (diff.z > 0)
149 lambda.z = (1.0 - pt1.z) / diff.z;
150 else
151 lambda.z = (-1.0 - pt1.z) / diff.z;
152
153 pt2 = pt1 + std::min(std::min(lambda.x, lambda.y), lambda.z) * diff;
154
155 // inverse transformation
156 inverseTransformPoint (pt2, point2);
157 return true;
158 }
159 else if (!pt1InBox && pt2InBox)
160 {
161 return true;
162 }
163 */
164 throw std::logic_error ("Not implemented");
165 return false;
166}
167
168////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
169/**
170 * @attention untested code
171 */
172template<typename PointT> void
173pcl::BoxClipper3D<PointT>::clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >&, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const
174{
175 // not implemented -> clip everything
176 clipped_polygon.clear ();
177 throw std::logic_error ("Not implemented");
178}
179
180////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
181/**
182 * @attention untested code
183 */
184template<typename PointT> void
185pcl::BoxClipper3D<PointT>::clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const
186{
187 // not implemented -> clip everything
188 polygon.clear ();
189 throw std::logic_error ("Not implemented");
190}
191
192////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
193// /ToDo: write fast version using eigen map and single matrix vector multiplication, that uses advantages of eigens SSE operations.
194template<typename PointT> void
196{
197 clipped.clear ();
198 if (indices.empty ())
199 {
200 clipped.reserve (cloud_in.size ());
201 for (std::size_t pIdx = 0; pIdx < cloud_in.size (); ++pIdx)
202 if (clipPoint3D (cloud_in[pIdx]))
203 clipped.push_back (pIdx);
204 }
205 else
206 {
207 for (const auto &index : indices)
208 if (clipPoint3D (cloud_in[index]))
209 clipped.push_back (index);
210 }
211}
212#endif //PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP
Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelep...
void transformPoint(const PointT &pointIn, PointT &pointOut) const
Clipper3D< PointT > * clone() const override
polymorphic method to clone the underlying clipper with its parameters.
bool clipLineSegment3D(PointT &from, PointT &to) const override
bool clipPoint3D(const PointT &point) const override
interface to clip a single point
BoxClipper3D(const Eigen::Affine3f &transformation)
Constructor taking an affine transformation matrix, which allows also shearing of the clipping area.
void clipPlanarPolygon3D(std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const override
void setTransformation(const Eigen::Affine3f &transformation)
Set the affine transformation.
~BoxClipper3D() noexcept override
virtual destructor
void clipPointCloud3D(const pcl::PointCloud< PointT > &cloud_in, Indices &clipped, const Indices &indices=Indices()) const override
interface to clip a point cloud
Base class for 3D clipper objects.
Definition clipper3D.h:55
PointCloud represents the base class in PCL for storing collections of 3D points.
std::size_t size() const
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.