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> void setVerticalFOV(float vfov)
Set the vertical field of view for the camera in degrees.
PointCloud::ConstPtr PointCloudConstPtr
float getVerticalFOV() const
Get the vertical field of view for the camera in degrees.
float getHorizontalFOV() const
Get the horizontal field of view for the camera in degrees.
float getFarPlaneDistance() const
Get the far plane distance.
This file defines compatibility wrappers for low level I/O functions.
void setFarPlaneDistance(float fp_dist)
Set the far plane distance.
void applyFilter(PointCloud &output)
Sample of point indices into a separate PointCloud.
boost::shared_ptr< PointCloud< PointT > > Ptr
FilterIndices represents the base class for filters that are about binary point removal.
Eigen::Matrix4f getCameraPose() const
Get the pose of the camera w.r.t the origin.
PointCloud::Ptr PointCloudPtr
void setCameraPose(const Eigen::Matrix4f &camera_pose)
Set the pose of the camera w.r.t the origin.
Filter represents the base filter class.
Defines all the PCL implemented PointT point type structures.
void setNearPlaneDistance(float np_dist)
Set the near plane distance.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
boost::shared_ptr< const FrustumCulling< PointT > > ConstPtr
FrustumCulling filters points inside a frustum given by pose and field of view of the camera.
boost::shared_ptr< FrustumCulling< PointT > > Ptr
void setHorizontalFOV(float hfov)
Set the horizontal field of view for the camera in degrees.
FrustumCulling(bool extract_removed_indices=false)
std::string filter_name_
The filter name.
A point structure representing Euclidean xyz coordinates, and the RGB color.
float getNearPlaneDistance() const
Get the near plane distance.