Point Cloud Library (PCL) 1.13.1
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crop_box.h
1/*
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35 *
36 * $Id: crop_box.h 1370 2011-06-19 01:06:01Z jspricke $
37 *
38 */
39
40#pragma once
41
42#include <pcl/filters/filter_indices.h>
43
44namespace pcl
45{
46 /** \brief CropBox is a filter that allows the user to filter all the data
47 * inside of a given box.
48 *
49 * \author Justin Rosen
50 * \ingroup filters
51 */
52 template<typename PointT>
53 class CropBox : public FilterIndices<PointT>
54 {
56
57 using PointCloud = typename Filter<PointT>::PointCloud;
58 using PointCloudPtr = typename PointCloud::Ptr;
59 using PointCloudConstPtr = typename PointCloud::ConstPtr;
60
61 public:
63
64 using Ptr = shared_ptr<CropBox<PointT> >;
65 using ConstPtr = shared_ptr<const CropBox<PointT> >;
66
67 /** \brief Constructor.
68 * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).
69 */
70 CropBox (bool extract_removed_indices = false) :
71 FilterIndices<PointT> (extract_removed_indices),
72 min_pt_ (Eigen::Vector4f (-1, -1, -1, 1)),
73 max_pt_ (Eigen::Vector4f (1, 1, 1, 1)),
74 rotation_ (Eigen::Vector3f::Zero ()),
75 translation_ (Eigen::Vector3f::Zero ()),
76 transform_ (Eigen::Affine3f::Identity ())
77 {
78 filter_name_ = "CropBox";
79 }
80
81 /** \brief Set the minimum point of the box
82 * \param[in] min_pt the minimum point of the box
83 */
84 inline void
85 setMin (const Eigen::Vector4f &min_pt)
86 {
87 min_pt_ = min_pt;
88 }
89
90 /** \brief Get the value of the minimum point of the box, as set by the user
91 * \return the value of the internal \a min_pt parameter.
92 */
93 inline Eigen::Vector4f
94 getMin () const
95 {
96 return (min_pt_);
97 }
98
99 /** \brief Set the maximum point of the box
100 * \param[in] max_pt the maximum point of the box
101 */
102 inline void
103 setMax (const Eigen::Vector4f &max_pt)
104 {
105 max_pt_ = max_pt;
106 }
107
108 /** \brief Get the value of the maximum point of the box, as set by the user
109 * \return the value of the internal \a max_pt parameter.
110 */
111 inline Eigen::Vector4f
112 getMax () const
113 {
114 return (max_pt_);
115 }
116
117 /** \brief Set a translation value for the box
118 * \param[in] translation the (tx,ty,tz) values that the box should be translated by
119 */
120 inline void
121 setTranslation (const Eigen::Vector3f &translation)
122 {
123 translation_ = translation;
124 }
125
126 /** \brief Get the value of the box translation parameter as set by the user. */
127 Eigen::Vector3f
129 {
130 return (translation_);
131 }
132
133 /** \brief Set a rotation value for the box
134 * \param[in] rotation the (rx,ry,rz) values that the box should be rotated by
135 */
136 inline void
137 setRotation (const Eigen::Vector3f &rotation)
138 {
139 rotation_ = rotation;
140 }
141
142 /** \brief Get the value of the box rotatation parameter, as set by the user. */
143 inline Eigen::Vector3f
144 getRotation () const
145 {
146 return (rotation_);
147 }
148
149 /** \brief Set a transformation that should be applied to the cloud before filtering
150 * \param[in] transform an affine transformation that needs to be applied to the cloud before filtering
151 */
152 inline void
153 setTransform (const Eigen::Affine3f &transform)
154 {
155 transform_ = transform;
156 }
157
158 /** \brief Get the value of the transformation parameter, as set by the user. */
159 inline Eigen::Affine3f
161 {
162 return (transform_);
163 }
164
165 protected:
166 using PCLBase<PointT>::input_;
174
175 /** \brief Sample of point indices
176 * \param[out] indices the resultant point cloud indices
177 */
178 void
179 applyFilter (Indices &indices) override;
180 private:
181 /** \brief The minimum point of the box. */
182 Eigen::Vector4f min_pt_;
183 /** \brief The maximum point of the box. */
184 Eigen::Vector4f max_pt_;
185 /** \brief The 3D rotation for the box. */
186 Eigen::Vector3f rotation_;
187 /** \brief The 3D translation for the box. */
188 Eigen::Vector3f translation_;
189 /** \brief The affine transform applied to the cloud. */
190 Eigen::Affine3f transform_;
191 };
192
193 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
194 /** \brief CropBox is a filter that allows the user to filter all the data
195 * inside of a given box.
196 *
197 * \author Justin Rosen
198 * \ingroup filters
199 */
200 template<>
201 class PCL_EXPORTS CropBox<pcl::PCLPointCloud2> : public FilterIndices<pcl::PCLPointCloud2>
202 {
203 using Filter<pcl::PCLPointCloud2>::filter_name_;
204 using Filter<pcl::PCLPointCloud2>::getClassName;
205
207 using PCLPointCloud2Ptr = PCLPointCloud2::Ptr;
208 using PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr;
209
210 public:
212
213 /** \brief Constructor.
214 * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).
215 */
216 CropBox (bool extract_removed_indices = false) :
217 FilterIndices<pcl::PCLPointCloud2>::FilterIndices (extract_removed_indices),
218 min_pt_(Eigen::Vector4f (-1, -1, -1, 1)),
219 max_pt_(Eigen::Vector4f (1, 1, 1, 1)),
220 translation_ (Eigen::Vector3f::Zero ()),
221 rotation_ (Eigen::Vector3f::Zero ()),
222 transform_(Eigen::Affine3f::Identity ())
223 {
224 filter_name_ = "CropBox";
225 }
226
227 /** \brief Set the minimum point of the box
228 * \param[in] min_pt the minimum point of the box
229 */
230 inline void
231 setMin (const Eigen::Vector4f& min_pt)
232 {
233 min_pt_ = min_pt;
234 }
235
236 /** \brief Get the value of the minimum point of the box, as set by the user
237 * \return the value of the internal \a min_pt parameter.
238 */
239 inline Eigen::Vector4f
240 getMin () const
241 {
242 return (min_pt_);
243 }
244
245 /** \brief Set the maximum point of the box
246 * \param[in] max_pt the maximum point of the box
247 */
248 inline void
249 setMax (const Eigen::Vector4f &max_pt)
250 {
251 max_pt_ = max_pt;
252 }
253
254 /** \brief Get the value of the maxiomum point of the box, as set by the user
255 * \return the value of the internal \a max_pt parameter.
256 */
257 inline Eigen::Vector4f
258 getMax () const
259 {
260 return (max_pt_);
261 }
262
263 /** \brief Set a translation value for the box
264 * \param[in] translation the (tx,ty,tz) values that the box should be translated by
265 */
266 inline void
267 setTranslation (const Eigen::Vector3f &translation)
268 {
269 translation_ = translation;
270 }
271
272 /** \brief Get the value of the box translation parameter as set by the user. */
273 inline Eigen::Vector3f
275 {
276 return (translation_);
277 }
278
279 /** \brief Set a rotation value for the box
280 * \param[in] rotation the (rx,ry,rz) values that the box should be rotated by
281 */
282 inline void
283 setRotation (const Eigen::Vector3f &rotation)
284 {
285 rotation_ = rotation;
286 }
287
288 /** \brief Get the value of the box rotatation parameter, as set by the user. */
289 inline Eigen::Vector3f
290 getRotation () const
291 {
292 return (rotation_);
293 }
294
295 /** \brief Set a transformation that should be applied to the cloud before filtering
296 * \param[in] transform an affine transformation that needs to be applied to the cloud before filtering
297 */
298 inline void
299 setTransform (const Eigen::Affine3f &transform)
300 {
301 transform_ = transform;
302 }
303
304 /** \brief Get the value of the transformation parameter, as set by the user. */
305 inline Eigen::Affine3f
307 {
308 return (transform_);
309 }
310
311 protected:
312 /** \brief Sample of point indices into a separate PointCloud
313 * \param output the resultant point cloud
314 */
315 void
316 applyFilter (PCLPointCloud2 &output) override;
317
318 /** \brief Sample of point indices
319 * \param indices the resultant point cloud indices
320 */
321 void
322 applyFilter (Indices &indices) override;
323
324 /** \brief The minimum point of the box. */
325 Eigen::Vector4f min_pt_;
326 /** \brief The maximum point of the box. */
327 Eigen::Vector4f max_pt_;
328 /** \brief The 3D translation for the box. */
329 Eigen::Vector3f translation_;
330 /** \brief The 3D rotation for the box. */
331 Eigen::Vector3f rotation_;
332 /** \brief The affine transform applied to the cloud. */
333 Eigen::Affine3f transform_;
334 };
335}
336
337#ifdef PCL_NO_PRECOMPILE
338#include <pcl/filters/impl/crop_box.hpp>
339#endif
void applyFilter(PCLPointCloud2 &output) override
Sample of point indices into a separate PointCloud.
Eigen::Vector3f getTranslation() const
Get the value of the box translation parameter as set by the user.
Definition crop_box.h:274
Eigen::Vector3f translation_
The 3D translation for the box.
Definition crop_box.h:329
void setMax(const Eigen::Vector4f &max_pt)
Set the maximum point of the box.
Definition crop_box.h:249
void applyFilter(Indices &indices) override
Sample of point indices.
void setTransform(const Eigen::Affine3f &transform)
Set a transformation that should be applied to the cloud before filtering.
Definition crop_box.h:299
Eigen::Affine3f transform_
The affine transform applied to the cloud.
Definition crop_box.h:333
PCL_MAKE_ALIGNED_OPERATOR_NEW CropBox(bool extract_removed_indices=false)
Constructor.
Definition crop_box.h:216
Eigen::Vector4f getMax() const
Get the value of the maxiomum point of the box, as set by the user.
Definition crop_box.h:258
void setMin(const Eigen::Vector4f &min_pt)
Set the minimum point of the box.
Definition crop_box.h:231
Eigen::Vector3f getRotation() const
Get the value of the box rotatation parameter, as set by the user.
Definition crop_box.h:290
void setRotation(const Eigen::Vector3f &rotation)
Set a rotation value for the box.
Definition crop_box.h:283
void setTranslation(const Eigen::Vector3f &translation)
Set a translation value for the box.
Definition crop_box.h:267
Eigen::Vector3f rotation_
The 3D rotation for the box.
Definition crop_box.h:331
Eigen::Vector4f max_pt_
The maximum point of the box.
Definition crop_box.h:327
Eigen::Vector4f getMin() const
Get the value of the minimum point of the box, as set by the user.
Definition crop_box.h:240
Eigen::Affine3f getTransform() const
Get the value of the transformation parameter, as set by the user.
Definition crop_box.h:306
Eigen::Vector4f min_pt_
The minimum point of the box.
Definition crop_box.h:325
CropBox is a filter that allows the user to filter all the data inside of a given box.
Definition crop_box.h:54
void setRotation(const Eigen::Vector3f &rotation)
Set a rotation value for the box.
Definition crop_box.h:137
Eigen::Vector3f getRotation() const
Get the value of the box rotatation parameter, as set by the user.
Definition crop_box.h:144
void applyFilter(Indices &indices) override
Sample of point indices.
Definition crop_box.hpp:51
CropBox(bool extract_removed_indices=false)
Constructor.
Definition crop_box.h:70
void setTransform(const Eigen::Affine3f &transform)
Set a transformation that should be applied to the cloud before filtering.
Definition crop_box.h:153
Eigen::Vector4f getMax() const
Get the value of the maximum point of the box, as set by the user.
Definition crop_box.h:112
Eigen::Vector4f getMin() const
Get the value of the minimum point of the box, as set by the user.
Definition crop_box.h:94
shared_ptr< CropBox< PointT > > Ptr
Definition crop_box.h:64
void setMin(const Eigen::Vector4f &min_pt)
Set the minimum point of the box.
Definition crop_box.h:85
void setTranslation(const Eigen::Vector3f &translation)
Set a translation value for the box.
Definition crop_box.h:121
shared_ptr< const CropBox< PointT > > ConstPtr
Definition crop_box.h:65
Eigen::Vector3f getTranslation() const
Get the value of the box translation parameter as set by the user.
Definition crop_box.h:128
void setMax(const Eigen::Vector4f &max_pt)
Set the maximum point of the box.
Definition crop_box.h:103
Eigen::Affine3f getTransform() const
Get the value of the transformation parameter, as set by the user.
Definition crop_box.h:160
Filter represents the base filter class.
Definition filter.h:81
bool extract_removed_indices_
Set to true if we want to return the indices of the removed points.
Definition filter.h:161
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition filter.h:174
std::string filter_name_
The filter name.
Definition filter.h:158
IndicesPtr removed_indices_
Indices of the points that are removed.
Definition filter.h:155
FilterIndices represents the base class for filters that are about binary point removal.
float user_filter_value_
The user given value that the filtered point dimensions should be set to (default = NaN).
bool keep_organized_
False = remove points (default), true = redefine points, keep structure.
bool negative_
False = normal filter behavior (default), true = inverted behavior.
PCL base class.
Definition pcl_base.h:70
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
#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
shared_ptr< ::pcl::PCLPointCloud2 > Ptr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.