Point Cloud Library (PCL)
1.9.1
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A comparison whether the (x,y,z) components of a given point satisfy (p'Ap + 2v'p + c [OP] 0). More...
#include <pcl/filters/conditional_removal.h>
Public Types | |
typedef boost::shared_ptr < const TfQuadraticXYZComparison < PointT > > | ConstPtr |
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typedef boost::shared_ptr < ComparisonBase< PointT > > | Ptr |
typedef boost::shared_ptr < const ComparisonBase< PointT > > | ConstPtr |
Public Member Functions | |
TfQuadraticXYZComparison () | |
Constructor. More... | |
virtual | ~TfQuadraticXYZComparison () |
Empty destructor. More... | |
TfQuadraticXYZComparison (const pcl::ComparisonOps::CompareOp op, const Eigen::Matrix3f &comparison_matrix, const Eigen::Vector3f &comparison_vector, const float &comparison_scalar, const Eigen::Affine3f &comparison_transform=Eigen::Affine3f::Identity()) | |
Constructor. More... | |
void | setComparisonOperator (const pcl::ComparisonOps::CompareOp op) |
set the operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0". More... | |
void | setComparisonMatrix (const Eigen::Matrix3f &matrix) |
set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0". More... | |
void | setComparisonMatrix (const Eigen::Matrix4f &homogeneousMatrix) |
set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0". More... | |
void | setComparisonVector (const Eigen::Vector3f &vector) |
set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0". More... | |
void | setComparisonVector (const Eigen::Vector4f &homogeneousVector) |
set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0". More... | |
void | setComparisonScalar (const float &scalar) |
set the scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0". More... | |
void | transformComparison (const Eigen::Matrix4f &transform) |
transform the coordinate system of the comparison. More... | |
void | transformComparison (const Eigen::Affine3f &transform) |
transform the coordinate system of the comparison. More... | |
virtual bool | evaluate (const PointT &point) const |
Determine the result of this comparison. More... | |
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ComparisonBase () | |
Constructor. More... | |
virtual | ~ComparisonBase () |
Destructor. More... | |
bool | isCapable () const |
Return if the comparison is capable. More... | |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr < TfQuadraticXYZComparison < PointT > > | Ptr |
Protected Attributes | |
Eigen::Matrix4f | comp_matr_ |
Eigen::Vector4f | comp_vect_ |
float | comp_scalar_ |
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bool | capable_ |
True if capable. More... | |
std::string | field_name_ |
Field name to compare data on. More... | |
uint32_t | offset_ |
The data offset. More... | |
ComparisonOps::CompareOp | op_ |
The comparison operator type. More... | |
A comparison whether the (x,y,z) components of a given point satisfy (p'Ap + 2v'p + c [OP] 0).
Here [OP] stands for the defined pcl::ComparisonOps, i.e. for GT, GE, LT, LE or EQ; p = (x,y,z) is a point of the point cloud; A is 3x3 matrix; v is the 3x1 vector; c is a scalar.
One can also use TfQuadraticXYZComparison for simpler geometric shapes by defining the quadratic parts (i.e. the matrix A) to be zero. By combining different instances of TfQuadraticXYZComparison one can get more complex shapes. For example, to have a simple cylinder (along the x-axis) of specific length one needs three comparisons combined as AND condition:
Definition at line 309 of file conditional_removal.h.
typedef boost::shared_ptr<const TfQuadraticXYZComparison<PointT> > pcl::TfQuadraticXYZComparison< PointT >::ConstPtr |
Definition at line 315 of file conditional_removal.h.
pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison | ( | ) |
Constructor.
Definition at line 382 of file conditional_removal.hpp.
References pcl::ComparisonBase< PointT >::capable_, pcl::TfQuadraticXYZComparison< PointT >::comp_matr_, pcl::TfQuadraticXYZComparison< PointT >::comp_vect_, pcl::ComparisonOps::EQ, pcl::getFields(), and pcl::ComparisonBase< PointT >::op_.
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inlinevirtual |
Empty destructor.
Definition at line 322 of file conditional_removal.h.
pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison | ( | const pcl::ComparisonOps::CompareOp | op, |
const Eigen::Matrix3f & | comparison_matrix, | ||
const Eigen::Vector3f & | comparison_vector, | ||
const float & | comparison_scalar, | ||
const Eigen::Affine3f & | comparison_transform = Eigen::Affine3f::Identity () |
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Constructor.
op | the operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0". |
comparison_matrix | the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0". |
comparison_vector | the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0". |
comparison_scalar | the scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0". |
comparison_transform | the transformation of the comparison. |
Definition at line 443 of file conditional_removal.hpp.
References pcl::ComparisonBase< PointT >::capable_, pcl::getFields(), pcl::ComparisonBase< PointT >::op_, pcl::TfQuadraticXYZComparison< PointT >::setComparisonMatrix(), pcl::TfQuadraticXYZComparison< PointT >::setComparisonVector(), and pcl::TfQuadraticXYZComparison< PointT >::transformComparison().
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virtual |
Determine the result of this comparison.
point | the point to evaluate |
Implements pcl::ComparisonBase< PointT >.
Definition at line 509 of file conditional_removal.hpp.
References pcl::ComparisonOps::EQ, pcl::ComparisonOps::GE, pcl::ComparisonOps::GT, pcl::ComparisonOps::LE, and pcl::ComparisonOps::LT.
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set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".
Definition at line 346 of file conditional_removal.h.
References pcl::TfQuadraticXYZComparison< PointT >::comp_matr_.
Referenced by pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison().
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inline |
set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".
Definition at line 358 of file conditional_removal.h.
References pcl::TfQuadraticXYZComparison< PointT >::comp_matr_.
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set the operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0".
Definition at line 338 of file conditional_removal.h.
References pcl::ComparisonBase< PointT >::op_.
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set the scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0".
Definition at line 385 of file conditional_removal.h.
References pcl::TfQuadraticXYZComparison< PointT >::comp_scalar_.
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set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".
Definition at line 367 of file conditional_removal.h.
References pcl::TfQuadraticXYZComparison< PointT >::comp_vect_.
Referenced by pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison().
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set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".
Definition at line 376 of file conditional_removal.h.
References pcl::TfQuadraticXYZComparison< PointT >::comp_vect_.
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inline |
transform the coordinate system of the comparison.
If you think of the transformation to be a translation and rotation of the comparison in the same coordinate system, you have to provide the inverse transformation. This function does not change the original definition of the comparison. Thus, each call of this function will assume the original definition of the comparison as starting point for the transformation.
transform | the transformation (rotation and translation) as an affine matrix. |
Definition at line 400 of file conditional_removal.h.
References pcl::TfQuadraticXYZComparison< PointT >::comp_matr_, and pcl::TfQuadraticXYZComparison< PointT >::comp_vect_.
Referenced by pcl::TfQuadraticXYZComparison< PointT >::TfQuadraticXYZComparison(), and pcl::TfQuadraticXYZComparison< PointT >::transformComparison().
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inline |
transform the coordinate system of the comparison.
If you think of the transformation to be a translation and rotation of the comparison in the same coordinate system, you have to provide the inverse transformation. This function does not change the original definition of the comparison. Thus, each call of this function will assume the original definition of the comparison as starting point for the transformation.
transform | the transformation (rotation and translation) as an affine matrix. |
Definition at line 416 of file conditional_removal.h.
References pcl::TfQuadraticXYZComparison< PointT >::transformComparison().
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protected |
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protected |
Definition at line 435 of file conditional_removal.h.
Referenced by pcl::TfQuadraticXYZComparison< PointT >::setComparisonScalar().
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr<TfQuadraticXYZComparison<PointT> > pcl::TfQuadraticXYZComparison< PointT >::Ptr |
Definition at line 314 of file conditional_removal.h.