crop_box.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
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 * $Id: crop_box.h 1370 2011-06-19 01:06:01Z jspricke $
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#ifndef PCL_FILTERS_CROP_BOX_H_
#define PCL_FILTERS_CROP_BOX_H_

#include <pcl/point_types.h>
#include <pcl/filters/filter_indices.h>
#include <pcl/common/transforms.h>
#include <pcl/common/eigen.h>

namespace pcl
{
  template<typename PointT>
  class CropBox : public FilterIndices<PointT>
  {
    using Filter<PointT>::getClassName;

    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    public:

      typedef boost::shared_ptr< CropBox<PointT> > Ptr;
      typedef boost::shared_ptr< const CropBox<PointT> > ConstPtr;

      CropBox (bool extract_removed_indices = false) :
        FilterIndices<PointT>::FilterIndices (extract_removed_indices),
        min_pt_ (Eigen::Vector4f (-1, -1, -1, 1)),
        max_pt_ (Eigen::Vector4f (1, 1, 1, 1)),
        rotation_ (Eigen::Vector3f::Zero ()),
        translation_ (Eigen::Vector3f::Zero ()),
        transform_ (Eigen::Affine3f::Identity ())
      {
        filter_name_ = "CropBox";
      }

      inline void
      setMin (const Eigen::Vector4f &min_pt)
      {
        min_pt_ = min_pt;
      }

      inline Eigen::Vector4f
      getMin () const
      {
        return (min_pt_);
      }

      inline void
      setMax (const Eigen::Vector4f &max_pt)
      {
        max_pt_ = max_pt;
      }

      inline Eigen::Vector4f
      getMax () const
      {
        return (max_pt_);
      }

      inline void
      setTranslation (const Eigen::Vector3f &translation)
      {
        translation_ = translation;
      }

      Eigen::Vector3f
      getTranslation () const
      {
        return (translation_);
      }

      inline void
      setRotation (const Eigen::Vector3f &rotation)
      {
        rotation_ = rotation;
      }

      inline Eigen::Vector3f
      getRotation () const
      {
        return (rotation_);
      }

      inline void
      setTransform (const Eigen::Affine3f &transform)
      {
        transform_ = transform;
      }

      inline Eigen::Affine3f
      getTransform () const
      {
        return (transform_);
      }

    protected:
      using PCLBase<PointT>::input_;
      using PCLBase<PointT>::indices_;
      using Filter<PointT>::filter_name_;
      using FilterIndices<PointT>::negative_;
      using FilterIndices<PointT>::keep_organized_;
      using FilterIndices<PointT>::user_filter_value_;
      using FilterIndices<PointT>::extract_removed_indices_;
      using FilterIndices<PointT>::removed_indices_;

      void
      applyFilter (PointCloud &output);

      void
      applyFilter (std::vector<int> &indices);

    private:
      Eigen::Vector4f min_pt_;
      Eigen::Vector4f max_pt_;
      Eigen::Vector3f rotation_;
      Eigen::Vector3f translation_;
      Eigen::Affine3f transform_;
  };


  template<>
  class PCL_EXPORTS CropBox<pcl::PCLPointCloud2> : public FilterIndices<pcl::PCLPointCloud2>
  {
    using Filter<pcl::PCLPointCloud2>::filter_name_;
    using Filter<pcl::PCLPointCloud2>::getClassName;

    typedef pcl::PCLPointCloud2 PCLPointCloud2;
    typedef PCLPointCloud2::Ptr PCLPointCloud2Ptr;
    typedef PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr;

    public:
       CropBox (bool extract_removed_indices = false) :
        FilterIndices<pcl::PCLPointCloud2>::FilterIndices (extract_removed_indices),
        min_pt_(Eigen::Vector4f (-1, -1, -1, 1)),
        max_pt_(Eigen::Vector4f (1, 1, 1, 1)),
        translation_ (Eigen::Vector3f::Zero ()),
        rotation_ (Eigen::Vector3f::Zero ()),
        transform_(Eigen::Affine3f::Identity ())
      {
        filter_name_ = "CropBox";
      }

      inline void
      setMin (const Eigen::Vector4f& min_pt)
      {
        min_pt_ = min_pt;
      }

      inline Eigen::Vector4f
      getMin () const
      {
        return (min_pt_);
      }

      inline void
      setMax (const Eigen::Vector4f &max_pt)
      {
        max_pt_ = max_pt;
      }

      inline Eigen::Vector4f
      getMax () const
      {
        return (max_pt_);
      }

      inline void
      setTranslation (const Eigen::Vector3f &translation)
      {
        translation_ = translation;
      }

      inline Eigen::Vector3f
      getTranslation () const
      {
        return (translation_);
      }

      inline void
      setRotation (const Eigen::Vector3f &rotation)
      {
        rotation_ = rotation;
      }

      inline Eigen::Vector3f
      getRotation () const
      {
        return (rotation_);
      }

      inline void
      setTransform (const Eigen::Affine3f &transform)
      {
        transform_ = transform;
      }

      inline Eigen::Affine3f
      getTransform () const
      {
        return (transform_);
      }

    protected:
      void
      applyFilter (PCLPointCloud2 &output);

      void
      applyFilter (std::vector<int> &indices);

      Eigen::Vector4f min_pt_;
      Eigen::Vector4f max_pt_;
      Eigen::Vector3f translation_;
      Eigen::Vector3f rotation_;
      Eigen::Affine3f transform_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/crop_box.hpp>
#endif

#endif  // PCL_FILTERS_CROP_BOX_H_