crop.h

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#pragma once
 
#include <Eigen/Core>
 
#include <pcl/point_cloud.h>
#include <pcl/PointIndices.h>
#include <pcl/common/io.h>
 
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
 
 
namespace visionx::tools
{
 
    template <typename PointCloudT>
    pcl::PointIndices::Ptr getCropIndices(const PointCloudT& inputCloud,
                                          Eigen::Vector3f min, Eigen::Vector3f max)
    {
        using PointT = typename PointCloudT::PointType;
 
        const simox::AxisAlignedBoundingBox aabb(min, max);
        pcl::PointIndices::Ptr indices(new pcl::PointIndices);
        for (size_t i = 0; i < inputCloud.size(); ++i)
        {
            const PointT& p = inputCloud[i];
            if (aabb.is_inside(p))
            {
                indices->indices.push_back(int(i));
            }
        }
        return indices;
    }
 
    template <typename PointCloudT>
    typename PointCloudT::Ptr
    getCropped(const PointCloudT& inputCloud,
               Eigen::Vector3f min, Eigen::Vector3f max)
    {
        pcl::PointIndices::Ptr indices = getCropIndices(inputCloud, min, max);
 
        typename PointCloudT::Ptr result(new PointCloudT);
        pcl::copyPointCloud(inputCloud, *indices, *result);
 
        return result;
    }
 
}