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Fix behaviour of BoxClipper3D #5769

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Aug 3, 2023
Merged

Fix behaviour of BoxClipper3D #5769

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9 changes: 5 additions & 4 deletions filters/include/pcl/filters/box_clipper3D.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,8 @@ namespace pcl
/**
* \author Suat Gedikli <gedikli@willowgarage.com>
* \brief Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelepiped in general pose.
* The affine transformation is used to transform the point before clipping it using the unit cube centered at origin and with an extend of -1 to +1 in each dimension
* The affine transformation is used to transform the point before clipping it using a cube centered at origin and with an extend of -1 to +1 in each dimension
* \sa CropBox
* \ingroup filters
*/
template<typename PointT>
Expand All @@ -61,7 +62,7 @@ namespace pcl
/**
* \author Suat Gedikli <gedikli@willowgarage.com>
* \brief Constructor taking an affine transformation matrix, which allows also shearing of the clipping area
* \param[in] transformation the 3x3 affine transformation matrix that is used to describe the unit cube
* \param[in] transformation the 3 dimensional affine transformation that is used to describe the cube ([-1; +1] in each dimension). The transformation is applied to the point(s)!
*/
BoxClipper3D (const Eigen::Affine3f& transformation);

Expand All @@ -75,7 +76,7 @@ namespace pcl

/**
* \brief Set the affine transformation
* \param[in] transformation
* \param[in] transformation applied to the point(s)
*/
void setTransformation (const Eigen::Affine3f& transformation);

Expand Down Expand Up @@ -115,7 +116,7 @@ namespace pcl
void transformPoint (const PointT& pointIn, PointT& pointOut) const;
private:
/**
* \brief the affine transformation that is applied before clipping is done on the unit cube.
* \brief the affine transformation that is applied before clipping is done on the [-1; +1] cube.
*/
Eigen::Affine3f transformation_;

Expand Down
5 changes: 1 addition & 4 deletions filters/include/pcl/filters/impl/box_clipper3D.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,6 @@ template<typename PointT>
pcl::BoxClipper3D<PointT>::BoxClipper3D (const Eigen::Affine3f& transformation)
: transformation_ (transformation)
{
//inverse_transformation_ = transformation_.inverse ();
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand All @@ -61,15 +60,13 @@ template<typename PointT> void
pcl::BoxClipper3D<PointT>::setTransformation (const Eigen::Affine3f& transformation)
{
transformation_ = transformation;
//inverse_transformation_ = transformation_.inverse ();
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::BoxClipper3D<PointT>::setTransformation (const Eigen::Vector3f& rodrigues, const Eigen::Vector3f& translation, const Eigen::Vector3f& box_size)
{
transformation_ = Eigen::Translation3f (translation) * Eigen::AngleAxisf(rodrigues.norm (), rodrigues.normalized ()) * Eigen::Scaling (box_size);
//inverse_transformation_ = transformation_.inverse ();
transformation_ = (Eigen::Translation3f (translation) * Eigen::AngleAxisf(rodrigues.norm (), rodrigues.normalized ()) * Eigen::Scaling (0.5f * box_size)).inverse ();
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down