40 #include "clipper3D.h"
49 template<
typename Po
intT>
54 using Ptr = shared_ptr< PlaneClipper3D<PointT> >;
55 using ConstPtr = shared_ptr< const PlaneClipper3D<PointT> >;
90 clipPlanarPolygon3D (const std::vector<PointT,
Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT,
Eigen::aligned_allocator<PointT> >& clipped_polygon) const;
103 Eigen::Vector4f plane_params_;
107 #include <pcl/filters/impl/plane_clipper3D.hpp>
virtual void clipPointCloud3D(const pcl::PointCloud< PointT > &cloud_in, Indices &clipped, const Indices &indices=Indices()) const
interface to clip a point cloud
float getDistance(const PointT &point) const
const Eigen::Vector4f & getPlaneParameters() const
return the current plane parameters
shared_ptr< Clipper3D< PointT > > Ptr
PCL_MAKE_ALIGNED_OPERATOR_NEW PlaneClipper3D(const Eigen::Vector4f &plane_params)
Constructor taking the homogeneous representation of the plane as a Eigen::Vector4f.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
virtual bool clipPoint3D(const PointT &point) const
interface to clip a single point
void setPlaneParameters(const Eigen::Vector4f &plane_params)
Set new plane parameters.
virtual Clipper3D< PointT > * clone() const
polymorphic method to clone the underlying clipper with its parameters.
IndicesAllocator<> Indices
Type used for indices in PCL.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
shared_ptr< const Clipper3D< PointT > > ConstPtr
virtual void clipPlanarPolygon3D(std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const
virtual ~PlaneClipper3D() noexcept=default
A point structure representing Euclidean xyz coordinates, and the RGB color.
virtual bool clipLineSegment3D(PointT &from, PointT &to) const
Implementation of a plane clipper in 3D.
Base class for 3D clipper objects.