Point Cloud Library (PCL)
1.9.1
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38 #ifndef PCL_FILTERS_CROP_HULL_H_
39 #define PCL_FILTERS_CROP_HULL_H_
42 #include <pcl/Vertices.h>
43 #include <pcl/filters/filter_indices.h>
52 template<
typename Po
intT>
65 typedef boost::shared_ptr< CropHull<PointT> >
Ptr;
66 typedef boost::shared_ptr< const CropHull<PointT> >
ConstPtr;
85 hull_polygons_ = polygons;
93 return (hull_polygons_);
102 hull_cloud_ = points;
109 return (hull_cloud_);
131 crop_outside_ = crop_outside;
153 getHullCloudRange ();
161 template<
unsigned PlaneDim1,
unsigned PlaneDim2>
void
171 template<
unsigned PlaneDim1,
unsigned PlaneDim2>
void
172 applyFilter2D (std::vector<int> &indices);
194 applyFilter3D (std::vector<int> &indices);
202 template<
unsigned PlaneDim1,
unsigned PlaneDim2>
inline static bool
203 isPointIn2DPolyWithVertIndices (
const PointT& point,
216 rayTriangleIntersect (
const PointT& point,
217 const Eigen::Vector3f& ray,
223 std::vector<pcl::Vertices> hull_polygons_;
226 PointCloudPtr hull_cloud_;
239 #ifdef PCL_NO_PRECOMPILE
240 #include <pcl/filters/impl/crop_hull.hpp>
243 #endif // ifndef PCL_FILTERS_CROP_HULL_H_
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< PointCloud< PointT > > Ptr
void applyFilter(PointCloud &output)
Filter the input points using the 2D or 3D polygon hull.
PointCloudPtr getHullCloud() const
Get the point cloud that the hull indices refer to.
void setHullCloud(PointCloudPtr points)
Set the point cloud that the hull indices refer to.
PointCloud represents the base class in PCL for storing collections of 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
void setDim(int dim)
Set the dimensionality of the hull to be used.
PointCloud::Ptr PointCloudPtr
void setCropOutside(bool crop_outside)
Remove points outside the hull (default), or those inside the hull.
PointCloud::ConstPtr PointCloudConstPtr
FilterIndices represents the base class for filters that are about binary point removal.
Filter points that lie inside or outside a 3D closed surface or 2D closed polygon,...
void setHullIndices(const std::vector< Vertices > &polygons)
Set the vertices of the hull used to filter points.
Filter represents the base filter class.
boost::shared_ptr< CropHull< PointT > > Ptr
std::string filter_name_
The filter name.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< const CropHull< PointT > > ConstPtr
Describes a set of vertices in a polygon mesh, by basically storing an array of indices.
CropHull()
Empty Constructor.
std::vector< Vertices > getHullIndices() const
Get the vertices of the hull used to filter points.