35#ifndef PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP
36#define PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP
38#include <pcl/filters/box_clipper3D.h>
40template<
typename Po
intT>
42: transformation_ (transformation)
48template<
typename Po
intT>
55template<
typename Po
intT>
61template<
typename Po
intT>
void
64 transformation_ = transformation;
69template<
typename Po
intT>
void
84template<
typename Po
intT>
void
87 const Eigen::Vector4f& point =
pointIn.getVector4fMap ();
88 pointOut.getVector4fMap () = transformation_ * point;
96 pointOut.x += (1 - point [3]) * transformation_.data () [ 9];
97 pointOut.y += (1 - point [3]) * transformation_.data () [10];
98 pointOut.z += (1 - point [3]) * transformation_.data () [11];
102 pointOut.x += transformation_.data () [ 9];
103 pointOut.y += transformation_.data () [10];
104 pointOut.z += transformation_.data () [11];
110template<
typename Po
intT>
bool
114 * point.getVector4fMap ());
122template<
typename Po
intT>
bool
168 throw std::logic_error (
"Not implemented");
176template<
typename Po
intT>
void
181 throw std::logic_error (
"Not implemented");
188template<
typename Po
intT>
void
193 throw std::logic_error (
"Not implemented");
198template<
typename Po
intT>
void
202 if (indices.empty ())
211 for (
const auto &index : indices)
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
~BoxClipper3D() noexcept
virtual destructor
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.
void clipPointCloud3D(const pcl::PointCloud< PointT > &cloud_in, Indices &clipped, const Indices &indices=Indices()) const override
interface to clip a point cloud
Iterator class for point clouds with or without given indices.
std::size_t size() const
Size of the range the iterator is going through.
IndicesAllocator<> Indices
Type used for indices in PCL.
A point structure representing Euclidean xyz coordinates, and the RGB color.