BoundingBox.h
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5 Copyright (c) 2010--2018,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 #pragma once
36 
37 #include "PointMatcher.h"
38 
40 template< typename T>
42 {
49 
50  typedef typename PointMatcher<T>::Vector Vector;
52 
53  inline static const std::string description()
54  {
55  return "Subsampling. Remove points laying in a bounding box which is axis aligned.";
56  }
57  inline static const ParametersDoc availableParameters()
58  {
59  return {
60  {"xMin", "minimum value on x-axis defining one side of the bounding box", "-1", "-inf", "inf", &P::Comp<T>},
61  {"xMax", "maximum value on x-axis defining one side of the bounding box", "1", "-inf", "inf", &P::Comp<T>},
62  {"yMin", "minimum value on y-axis defining one side of the bounding box", "-1", "-inf", "inf", &P::Comp<T>},
63  {"yMax", "maximum value on y-axis defining one side of the bounding box", "1", "-inf", "inf", &P::Comp<T>},
64  {"zMin", "minimum value on z-axis defining one side of the bounding box", "-1", "-inf", "inf", &P::Comp<T>},
65  {"zMax", "maximum value on z-axis defining one side of the bounding box", "1", "-inf", "inf", &P::Comp<T>},
66  {"removeInside", "If set to true (1), remove points inside the bounding box; else (0), remove points outside the bounding box", "1", "0", "1", P::Comp<bool>}
67  };
68  }
69 
70  const T xMin;
71  const T xMax;
72  const T yMin;
73  const T yMax;
74  const T zMin;
75  const T zMax;
76  const bool removeInside;
77 
80  virtual DataPoints filter(const DataPoints& input);
81  virtual void inPlaceFilter(DataPoints& cloud);
82 };
BoundingBoxDataPointsFilter::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: BoundingBox.h:51
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
BoundingBoxDataPointsFilter
Subsampling. Remove point laying in a bounding box.
Definition: BoundingBox.h:41
BoundingBoxDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: BoundingBox.h:45
BoundingBoxDataPointsFilter::yMin
const T yMin
Definition: BoundingBox.h:72
build_map.T
T
Definition: build_map.py:34
BoundingBoxDataPointsFilter::removeInside
const bool removeInside
Definition: BoundingBox.h:76
BoundingBoxDataPointsFilter::description
static const std::string description()
Definition: BoundingBox.h:53
BoundingBoxDataPointsFilter::Vector
PointMatcher< T >::Vector Vector
Definition: BoundingBox.h:50
BoundingBoxDataPointsFilter::yMax
const T yMax
Definition: BoundingBox.h:73
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
BoundingBoxDataPointsFilter::zMax
const T zMax
Definition: BoundingBox.h:75
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
BoundingBoxDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: BoundingBox.h:57
testing::internal::string
::std::string string
Definition: gtest.h:1979
BoundingBoxDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: BoundingBox.cpp:55
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
align_sequence.params
params
Definition: align_sequence.py:13
BoundingBoxDataPointsFilter::zMin
const T zMin
Definition: BoundingBox.h:74
BoundingBoxDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: BoundingBox.h:44
BoundingBoxDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: BoundingBox.h:48
BoundingBoxDataPointsFilter::BoundingBoxDataPointsFilter
BoundingBoxDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: BoundingBox.cpp:40
BoundingBoxDataPointsFilter::xMax
const T xMax
Definition: BoundingBox.h:71
BoundingBoxDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: BoundingBox.cpp:65
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
BoundingBoxDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: BoundingBox.h:46
BoundingBoxDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: BoundingBox.h:47
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
BoundingBoxDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: BoundingBox.h:43
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
BoundingBoxDataPointsFilter::xMin
const T xMin
Definition: BoundingBox.h:70
PointMatcher.h
public interface
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199


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