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<li class="navelem"><a class="el" href="dir_fe73964e53ed04dff1d72b4679c9e201.html">pcl</a></li><li class="navelem"><a class="el" href="dir_cbecde0f1c13abe661f13960a6611faf.html">filters</a></li><li class="navelem"><a class="el" href="dir_655988a3903cd32a7040b7f90964c1fe.html">impl</a></li> </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#ifndef PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#define PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include <pcl/filters/box_clipper3D.h></span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a660793521d329da184d9b3bd8703db8f"> 41</a></span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#a660793521d329da184d9b3bd8703db8f">pcl::BoxClipper3D<PointT>::BoxClipper3D</a> (<span class="keyword">const</span> Eigen::Affine3f& transformation)</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> : transformation_ (transformation)</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> }</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"></span> </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"></span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a794ccb4a83e5543bb7674743fd454deb"> 48</a></span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#a660793521d329da184d9b3bd8703db8f">pcl::BoxClipper3D<PointT>::BoxClipper3D</a> (<span class="keyword">const</span> Eigen::Vector3f& rodrigues, <span class="keyword">const</span> Eigen::Vector3f& translation, <span class="keyword">const</span> Eigen::Vector3f& box_size)</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  setTransformation (rodrigues, translation, box_size);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> }</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"></span> </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"></span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#aca7141119c6bc55021f3982eab8b4b05">pcl::BoxClipper3D<PointT>::~BoxClipper3D</a> () noexcept</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> = default;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"></span> </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"></span>template<typename <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a86e976f18ec28b4f795ca09a5d0651f3"> 60</a></span> <a class="code" href="namespacepcl.html">pcl</a>::<a class="code" href="classpcl_1_1_box_clipper3_d.html">BoxClipper3D</a><<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>>::setTransformation (const <a class="code" href="namespace_eigen.html">Eigen</a>::Affine3f& transformation)</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> {</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  transformation_ = transformation;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> }</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"></span> </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"></span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a9ac1057cc5306b60c63d06d42b507957"> 67</a></span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#a86e976f18ec28b4f795ca09a5d0651f3">pcl::BoxClipper3D<PointT>::setTransformation</a> (<span class="keyword">const</span> Eigen::Vector3f& rodrigues, <span class="keyword">const</span> Eigen::Vector3f& translation, <span class="keyword">const</span> Eigen::Vector3f& box_size)</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> {</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  transformation_ = (Eigen::Translation3f (translation) * Eigen::AngleAxisf(rodrigues.norm (), rodrigues.normalized ()) * Eigen::Scaling (0.5f * box_size)).inverse ();</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> }</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"></span> </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"></span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <a class="code" href="classpcl_1_1_clipper3_d.html">pcl::Clipper3D<PointT></a>*</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a19c524616aa7f337370306637b736071"> 74</a></span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#a19c524616aa7f337370306637b736071">pcl::BoxClipper3D<PointT>::clone</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classpcl_1_1_box_clipper3_d.html">BoxClipper3D<PointT></a> (transformation_);</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> }</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"></span> </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"></span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a0409c5176eff4f03b99540689c09a9e5"> 81</a></span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#a0409c5176eff4f03b99540689c09a9e5">pcl::BoxClipper3D<PointT>::transformPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>& pointIn, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>& pointOut)<span class="keyword"> const</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">const</span> Eigen::Vector4f& point = pointIn.getVector4fMap ();</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  pointOut.getVector4fMap () = transformation_ * point;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="comment">// homogeneous value might not be 1</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordflow">if</span> (point [3] != 1)</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  {</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="comment">// homogeneous component might be uninitialized -> invalid</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">if</span> (point [3] != 0)</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  {</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  pointOut.x += (1 - point [3]) * transformation_.data () [ 9];</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  pointOut.y += (1 - point [3]) * transformation_.data () [10];</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  pointOut.z += (1 - point [3]) * transformation_.data () [11];</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  }</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  {</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  pointOut.x += transformation_.data () [ 9];</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  pointOut.y += transformation_.data () [10];</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  pointOut.z += transformation_.data () [11];</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  }</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  }</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> }</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"></span> </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"></span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a60b09be08ca92c26c1bdaac85bac14d2"> 107</a></span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#a60b09be08ca92c26c1bdaac85bac14d2">pcl::BoxClipper3D<PointT>::clipPoint3D</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>& point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  Eigen::Vector4f point_coordinates (transformation_.matrix ()</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  * point.getVector4fMap ());</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">return</span> (point_coordinates.array ().abs () <= 1).all ();</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> }</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"></span> </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"></span><span class="comment">/**</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> * @attention untested code</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a43eb807ba114e9f9ae7cdb53a2566bda"> 119</a></span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#a43eb807ba114e9f9ae7cdb53a2566bda">pcl::BoxClipper3D<PointT>::clipLineSegment3D</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>&, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>&)<span class="keyword"> const</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="comment">/*</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"> PointT pt1, pt2;</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> transformPoint (point1, pt1);</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> transformPoint (point2, pt2);</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"></span> </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> //</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"> bool pt1InBox = (std::abs(pt1.x) <= 1.0 && std::abs (pt1.y) <= 1.0 && std::abs (pt1.z) <= 1.0);</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> bool pt2InBox = (std::abs(pt2.x) <= 1.0 && std::abs (pt2.y) <= 1.0 && std::abs (pt2.z) <= 1.0);</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"></span> </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"> // one is outside the other one inside the box</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"> //if (pt1InBox ^ pt2InBox)</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"> if (pt1InBox && !pt2InBox)</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"> {</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"> PointT diff;</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"> PointT lambda;</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"> diff.getVector3fMap () = pt2.getVector3fMap () - pt1.getVector3fMap ();</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"></span> </div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"> if (diff.x > 0)</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="comment"> lambda.x = (1.0 - pt1.x) / diff.x;</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"> else</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> lambda.x = (-1.0 - pt1.x) / diff.x;</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="comment"></span> </div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="comment"> if (diff.y > 0)</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="comment"> lambda.y = (1.0 - pt1.y) / diff.y;</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment"> else</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment"> lambda.y = (-1.0 - pt1.y) / diff.y;</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment"></span> </div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="comment"> if (diff.z > 0)</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="comment"> lambda.z = (1.0 - pt1.z) / diff.z;</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="comment"> else</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="comment"> lambda.z = (-1.0 - pt1.z) / diff.z;</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="comment"></span> </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="comment"> pt2 = pt1 + std::min(std::min(lambda.x, lambda.y), lambda.z) * diff;</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> <span class="comment"></span> </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment"> // inverse transformation</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="comment"> inverseTransformPoint (pt2, point2);</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="comment"> return true;</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> <span class="comment"> }</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> <span class="comment"> else if (!pt1InBox && pt2InBox)</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> <span class="comment"> {</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="comment"> return true;</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> <span class="comment"> }</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">throw</span> std::logic_error (<span class="stringliteral">"Not implemented"</span>);</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> }</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> <span class="comment"></span> </div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment"></span><span class="comment">/**</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="comment"> * @attention untested code</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#ad28bdeb7650d70e9933d9ade4f4f16a1"> 173</a></span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#a69e460682addc60bee6e4bb5f5d85d5b">pcl::BoxClipper3D<PointT>::clipPlanarPolygon3D</a> (<span class="keyword">const</span> std::vector<<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>, Eigen::aligned_allocator<PointT> >&, std::vector<<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>, Eigen::aligned_allocator<PointT> >& clipped_polygon)<span class="keyword"> const</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="comment">// not implemented -> clip everything</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  clipped_polygon.clear ();</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">throw</span> std::logic_error (<span class="stringliteral">"Not implemented"</span>);</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="comment"></span> </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment"></span><span class="comment">/**</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment"> * @attention untested code</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a69e460682addc60bee6e4bb5f5d85d5b"> 185</a></span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#a69e460682addc60bee6e4bb5f5d85d5b">pcl::BoxClipper3D<PointT>::clipPlanarPolygon3D</a> (std::vector<<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>, Eigen::aligned_allocator<PointT> >& polygon)<span class="keyword"> const</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="comment">// not implemented -> clip everything</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  polygon.clear ();</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordflow">throw</span> std::logic_error (<span class="stringliteral">"Not implemented"</span>);</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> }</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="comment"></span> </div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="comment">////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> <span class="comment"></span><span class="comment">// /ToDo: write fast version using eigen map and single matrix vector multiplication, that uses advantages of eigens SSE operations.</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#af11e7496af553d84bdf8d2b0db8e5ce4"> 195</a></span> <a class="code" href="classpcl_1_1_box_clipper3_d.html#af11e7496af553d84bdf8d2b0db8e5ce4">pcl::BoxClipper3D<PointT>::clipPointCloud3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointT></a>& cloud_in, <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a>& clipped, <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a>& indices)<span class="keyword"> const</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  clipped.clear ();</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  {</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  clipped.reserve (cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aa3fc6f30bae069ca325b80f60757276e">size</a> ());</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">for</span> (std::size_t pIdx = 0; pIdx < cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#aa3fc6f30bae069ca325b80f60757276e">size</a> (); ++pIdx)</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordflow">if</span> (clipPoint3D (cloud_in[pIdx]))</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  clipped.push_back (pIdx);</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  }</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  {</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &index : indices)</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">if</span> (clipPoint3D (cloud_in[index]))</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  clipped.push_back (index);</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="preprocessor">#endif </span><span class="comment">//PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP</span></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html">pcl::BoxClipper3D</a></div><div class="ttdoc">Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelep...</div><div class="ttdef"><b>Definition:</b> <a href="box__clipper3_d_8h_source.html#l00054">box_clipper3D.h:55</a></div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a0409c5176eff4f03b99540689c09a9e5"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a0409c5176eff4f03b99540689c09a9e5">pcl::BoxClipper3D::transformPoint</a></div><div class="ttdeci">void transformPoint(const PointT &pointIn, PointT &pointOut) const</div><div class="ttdef"><b>Definition:</b> <a href="box__clipper3_d_8hpp_source.html#l00081">box_clipper3D.hpp:81</a></div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a19c524616aa7f337370306637b736071"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a19c524616aa7f337370306637b736071">pcl::BoxClipper3D::clone</a></div><div class="ttdeci">Clipper3D< PointT > * clone() const override</div><div class="ttdoc">polymorphic method to clone the underlying clipper with its parameters.</div><div class="ttdef"><b>Definition:</b> <a href="box__clipper3_d_8hpp_source.html#l00074">box_clipper3D.hpp:74</a></div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a43eb807ba114e9f9ae7cdb53a2566bda"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a43eb807ba114e9f9ae7cdb53a2566bda">pcl::BoxClipper3D::clipLineSegment3D</a></div><div class="ttdeci">bool clipLineSegment3D(PointT &from, PointT &to) const override</div><div class="ttdef"><b>Definition:</b> <a href="box__clipper3_d_8hpp_source.html#l00119">box_clipper3D.hpp:119</a></div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a60b09be08ca92c26c1bdaac85bac14d2"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a60b09be08ca92c26c1bdaac85bac14d2">pcl::BoxClipper3D::clipPoint3D</a></div><div class="ttdeci">bool clipPoint3D(const PointT &point) const override</div><div class="ttdoc">interface to clip a single point</div><div class="ttdef"><b>Definition:</b> <a href="box__clipper3_d_8hpp_source.html#l00107">box_clipper3D.hpp:107</a></div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a660793521d329da184d9b3bd8703db8f"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a660793521d329da184d9b3bd8703db8f">pcl::BoxClipper3D::BoxClipper3D</a></div><div class="ttdeci">BoxClipper3D(const Eigen::Affine3f &transformation)</div><div class="ttdoc">Constructor taking an affine transformation matrix, which allows also shearing of the clipping area.</div><div class="ttdef"><b>Definition:</b> <a href="box__clipper3_d_8hpp_source.html#l00041">box_clipper3D.hpp:41</a></div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a69e460682addc60bee6e4bb5f5d85d5b"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a69e460682addc60bee6e4bb5f5d85d5b">pcl::BoxClipper3D::clipPlanarPolygon3D</a></div><div class="ttdeci">void clipPlanarPolygon3D(std::vector< PointT, Eigen::aligned_allocator< PointT > > &polygon) const override</div><div class="ttdef"><b>Definition:</b> <a href="box__clipper3_d_8hpp_source.html#l00185">box_clipper3D.hpp:185</a></div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a86e976f18ec28b4f795ca09a5d0651f3"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a86e976f18ec28b4f795ca09a5d0651f3">pcl::BoxClipper3D::setTransformation</a></div><div class="ttdeci">void setTransformation(const Eigen::Affine3f &transformation)</div><div class="ttdoc">Set the affine transformation.</div><div class="ttdef"><b>Definition:</b> <a href="box__clipper3_d_8hpp_source.html#l00060">box_clipper3D.hpp:60</a></div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_aca7141119c6bc55021f3982eab8b4b05"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#aca7141119c6bc55021f3982eab8b4b05">pcl::BoxClipper3D::~BoxClipper3D</a></div><div class="ttdeci">~BoxClipper3D() noexcept override</div><div class="ttdoc">virtual destructor</div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_af11e7496af553d84bdf8d2b0db8e5ce4"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#af11e7496af553d84bdf8d2b0db8e5ce4">pcl::BoxClipper3D::clipPointCloud3D</a></div><div class="ttdeci">void clipPointCloud3D(const pcl::PointCloud< PointT > &cloud_in, Indices &clipped, const Indices &indices=Indices()) const override</div><div class="ttdoc">interface to clip a point cloud</div><div class="ttdef"><b>Definition:</b> <a href="box__clipper3_d_8hpp_source.html#l00195">box_clipper3D.hpp:195</a></div></div>
<div class="ttc" id="aclasspcl_1_1_clipper3_d_html"><div class="ttname"><a href="classpcl_1_1_clipper3_d.html">pcl::Clipper3D</a></div><div class="ttdoc">Base class for 3D clipper objects.</div><div class="ttdef"><b>Definition:</b> <a href="clipper3_d_8h_source.html#l00054">clipper3D.h:55</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00172">point_cloud.h:173</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aa3fc6f30bae069ca325b80f60757276e"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aa3fc6f30bae069ca325b80f60757276e">pcl::PointCloud::size</a></div><div class="ttdeci">std::size_t size() const</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00443">point_cloud.h:443</a></div></div>
<div class="ttc" id="anamespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00010">bfgs.h:10</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="anamespacepcl_html_a8bfe09b8680e7129dd0fd6177c1a2ce6"><div class="ttname"><a href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a></div><div class="ttdeci">IndicesAllocator<> Indices</div><div class="ttdoc">Type used for indices in PCL.</div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.html#l00133">types.h:133</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color.</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00593">point_types.hpp:594</a></div></div>
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