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crop_box.hpp
/*
* Software License Agreement (BSD License)
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2015, Google, Inc.
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* $Id: extract_indices.hpp 1897 2011-07-26 20:35:49Z rusu $
*
*/
#ifndef PCL_FILTERS_IMPL_CROP_BOX_H_
#define PCL_FILTERS_IMPL_CROP_BOX_H_
#include <pcl/filters/crop_box.h>
#include <pcl/common/eigen.h> // for getTransformation
#include <pcl/common/point_tests.h> // for isFinite
#include <pcl/common/transforms.h> // for transformPoint
///////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::CropBox<PointT>::applyFilter (Indices &indices)
{
indices.resize (input_->size ());
removed_indices_->resize (input_->size ());
int indices_count = 0;
int removed_indices_count = 0;
Eigen::Affine3f transform = Eigen::Affine3f::Identity ();
Eigen::Affine3f inverse_transform = Eigen::Affine3f::Identity ();
if (rotation_ != Eigen::Vector3f::Zero ())
{
pcl::getTransformation (0, 0, 0,
rotation_ (0), rotation_ (1), rotation_ (2),
transform);
inverse_transform = transform.inverse ();
}
bool transform_matrix_is_identity = transform_.matrix ().isIdentity ();
bool translation_is_zero = (translation_ == Eigen::Vector3f::Zero ());
bool inverse_transform_matrix_is_identity = inverse_transform.matrix ().isIdentity ();
for (const auto index : *indices_)
{
if (!input_->is_dense)
// Check if the point is invalid
if (!isFinite ((*input_)[index]))
continue;
// Get local point
PointT local_pt = (*input_)[index];
// Transform point to world space
if (!transform_matrix_is_identity)
local_pt = pcl::transformPoint<PointT> (local_pt, transform_);
if (!translation_is_zero)
{
local_pt.x -= translation_ (0);
local_pt.y -= translation_ (1);
local_pt.z -= translation_ (2);
}
// Transform point to local space of crop box
if (!inverse_transform_matrix_is_identity)
local_pt = pcl::transformPoint<PointT> (local_pt, inverse_transform);
// If outside the cropbox
if ( (local_pt.x < min_pt_[0] || local_pt.y < min_pt_[1] || local_pt.z < min_pt_[2]) ||
(local_pt.x > max_pt_[0] || local_pt.y > max_pt_[1] || local_pt.z > max_pt_[2]))
{
if (negative_)
indices[indices_count++] = index;
else if (extract_removed_indices_)
(*removed_indices_)[removed_indices_count++] = index;
}
// If inside the cropbox
else
{
if (negative_ && extract_removed_indices_)
(*removed_indices_)[removed_indices_count++] = index;
else if (!negative_)
indices[indices_count++] = index;
}
}
indices.resize (indices_count);
removed_indices_->resize (removed_indices_count);
}
#define PCL_INSTANTIATE_CropBox(T) template class PCL_EXPORTS pcl::CropBox<T>;
#endif // PCL_FILTERS_IMPL_CROP_BOX_H_
pcl::CropBox::applyFilter
void applyFilter(Indices &indices) override
Sample of point indices.
Definition crop_box.hpp:51
pcl::getTransformation
void getTransformation(Scalar x, Scalar y, Scalar z, Scalar roll, Scalar pitch, Scalar yaw, Eigen::Transform< Scalar, 3, Eigen::Affine > &t)
Create a transformation from the given translation and Euler angles (intrinsic rotations,...
Definition eigen.hpp:607
pcl::isFinite
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition point_tests.h:55
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition point_types.hpp:623