Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Public Attributes | Protected Attributes
pcl::TfQuadraticXYZComparison< PointT > Class Template Reference

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>

+ Inheritance diagram for pcl::TfQuadraticXYZComparison< PointT >:

List of all members.

Public Types

typedef boost::shared_ptr
< const
TfQuadraticXYZComparison
< PointT > > 
ConstPtr

Public Member Functions

 TfQuadraticXYZComparison ()
 Constructor.
virtual ~TfQuadraticXYZComparison ()
 Empty destructor.
 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.
void setComparisonOperator (const pcl::ComparisonOps::CompareOp op)
 set the operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0".
void setComparisonMatrix (const Eigen::Matrix3f &matrix)
 set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".
void setComparisonMatrix (const Eigen::Matrix4f &homogeneousMatrix)
 set the matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".
void setComparisonVector (const Eigen::Vector3f &vector)
 set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".
void setComparisonVector (const Eigen::Vector4f &homogeneousVector)
 set the vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".
void setComparisonScalar (const float &scalar)
 set the scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0".
void transformComparison (const Eigen::Matrix4f &transform)
 transform the coordinate system of the comparison.
void transformComparison (const Eigen::Affine3f &transform)
 transform the coordinate system of the comparison.
virtual bool evaluate (const PointT &point) const
 Determine the result of this comparison.

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_

Detailed Description

template<typename PointT>
class pcl::TfQuadraticXYZComparison< PointT >

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: 1. The cylinder: A = [0 0 0, 0 1 0, 0 0 1]; v = [0, 0, 0]; c = radius²; OP = LT (meaning "<") 2. X-min limit: A = 0; v = [1, 0, 0]; c = x_min; OP = GT 3. X-max ...

Author:
Julian Löchner

Definition at line 309 of file conditional_removal.h.


Member Typedef Documentation

template<typename PointT >
typedef boost::shared_ptr<const TfQuadraticXYZComparison<PointT> > pcl::TfQuadraticXYZComparison< PointT >::ConstPtr

Reimplemented from pcl::ComparisonBase< PointT >.

Definition at line 315 of file conditional_removal.h.


Constructor & Destructor Documentation

template<typename PointT >
virtual pcl::TfQuadraticXYZComparison< PointT >::~TfQuadraticXYZComparison ( ) [inline, virtual]

Empty destructor.

Definition at line 322 of file conditional_removal.h.

template<typename PointT >
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 () 
)

Constructor.

Parameters:
opthe operator "[OP]" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_matrixthe matrix "A" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_vectorthe vector "v" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_scalarthe scalar "c" of the comparison "p'Ap + 2v'p + c [OP] 0".
comparison_transformthe transformation of the comparison.

Definition at line 442 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().


Member Function Documentation

template<typename PointT >
bool pcl::TfQuadraticXYZComparison< PointT >::evaluate ( const PointT point) const [virtual]

Determine the result of this comparison.

Parameters:
pointthe point to evaluate
Returns:
the result of this comparison.

Implements pcl::ComparisonBase< PointT >.

Definition at line 508 of file conditional_removal.hpp.

References pcl::ComparisonOps::EQ, pcl::ComparisonOps::GE, pcl::ComparisonOps::GT, pcl::ComparisonOps::LE, and pcl::ComparisonOps::LT.

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonMatrix ( const Eigen::Matrix3f &  matrix) [inline]

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().

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonMatrix ( const Eigen::Matrix4f &  homogeneousMatrix) [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_.

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonOperator ( const pcl::ComparisonOps::CompareOp  op) [inline]

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_.

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonScalar ( const float &  scalar) [inline]

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_.

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonVector ( const Eigen::Vector3f &  vector) [inline]

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().

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::setComparisonVector ( const Eigen::Vector4f &  homogeneousVector) [inline]

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_.

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::transformComparison ( const Eigen::Matrix4f &  transform) [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.

Parameters:
transformthe 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().

template<typename PointT >
void pcl::TfQuadraticXYZComparison< PointT >::transformComparison ( const Eigen::Affine3f &  transform) [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.

Parameters:
transformthe transformation (rotation and translation) as an affine matrix.

Definition at line 416 of file conditional_removal.h.

References pcl::TfQuadraticXYZComparison< PointT >::transformComparison().


Member Data Documentation

template<typename PointT >
Eigen::Matrix4f pcl::TfQuadraticXYZComparison< PointT >::comp_matr_ [protected]
template<typename PointT >
float pcl::TfQuadraticXYZComparison< PointT >::comp_scalar_ [protected]
template<typename PointT >
Eigen::Vector4f pcl::TfQuadraticXYZComparison< PointT >::comp_vect_ [protected]
template<typename PointT >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::shared_ptr<TfQuadraticXYZComparison<PointT> > pcl::TfQuadraticXYZComparison< PointT >::Ptr

Reimplemented from pcl::ComparisonBase< PointT >.

Definition at line 314 of file conditional_removal.h.


The documentation for this class was generated from the following files: