Point Cloud Library (PCL)
1.9.1
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39 #ifndef PCL_FILTERS_FRUSTUM_CULLING_H_
40 #define PCL_FILTERS_FRUSTUM_CULLING_H_
43 #include <pcl/filters/filter_indices.h>
44 #include <pcl/common/transforms.h>
45 #include <pcl/common/eigen.h>
77 template <
typename Po
intT>
86 typedef boost::shared_ptr< FrustumCulling<PointT> >
Ptr;
87 typedef boost::shared_ptr< const FrustumCulling<PointT> >
ConstPtr;
94 , camera_pose_ (
Eigen::Matrix4f::Identity ())
124 camera_pose_ = camera_pose;
131 return (camera_pose_);
223 Eigen::Matrix4f camera_pose_;
234 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
238 #ifdef PCL_NO_PRECOMPILE
239 #include <pcl/filters/impl/frustum_culling.hpp>
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< PointCloud< PointT > > Ptr
FrustumCulling filters points inside a frustum given by pose and field of view of the camera.
void setVerticalFOV(float vfov)
Set the vertical field of view for the camera in degrees.
void setHorizontalFOV(float hfov)
Set the horizontal field of view for the camera in degrees.
void setCameraPose(const Eigen::Matrix4f &camera_pose)
Set the pose of the camera w.r.t the origin.
PointCloud represents the base class in PCL for storing collections of 3D points.
FrustumCulling(bool extract_removed_indices=false)
boost::shared_ptr< const FrustumCulling< PointT > > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.
float getNearPlaneDistance() const
Get the near plane distance.
void setNearPlaneDistance(float np_dist)
Set the near plane distance.
Eigen::Matrix4f getCameraPose() const
Get the pose of the camera w.r.t the origin.
PointCloud::Ptr PointCloudPtr
PointCloud::ConstPtr PointCloudConstPtr
boost::shared_ptr< FrustumCulling< PointT > > Ptr
float getFarPlaneDistance() const
Get the far plane distance.
FilterIndices represents the base class for filters that are about binary point removal.
Filter represents the base filter class.
float getHorizontalFOV() const
Get the horizontal field of view for the camera in degrees.
std::string filter_name_
The filter name.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
void applyFilter(PointCloud &output)
Sample of point indices into a separate PointCloud.
float getVerticalFOV() const
Get the vertical field of view for the camera in degrees.
void setFarPlaneDistance(float fp_dist)
Set the far plane distance.