39 #ifndef PCL_FILTERS_FRUSTUM_CULLING_H_
40 #define PCL_FILTERS_FRUSTUM_CULLING_H_
42 #include <pcl/point_types.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
std::string filter_name_
The filter name.
boost::shared_ptr< FrustumCulling< PointT > > Ptr
FrustumCulling filters points inside a frustum given by pose and field of view of the camera...
PointCloud::ConstPtr PointCloudConstPtr
float getNearPlaneDistance() const
Get the near plane distance.
void setVerticalFOV(float vfov)
Set the vertical 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.
FilterIndices represents the base class for filters that are about binary point removal.
float getVerticalFOV() const
Get the vertical field of view for the camera in degrees.
PointCloud::Ptr PointCloudPtr
Eigen::Matrix4f getCameraPose() const
Get the pose of the camera w.r.t the origin.
float getHorizontalFOV() const
Get the horizontal field of view for the camera in degrees.
void setFarPlaneDistance(float fp_dist)
Set the far plane distance.
FrustumCulling(bool extract_removed_indices=false)
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< const FrustumCulling< PointT > > ConstPtr
void setHorizontalFOV(float hfov)
Set the horizontal field of view for the camera in degrees.
A point structure representing Euclidean xyz coordinates, and the RGB color.
boost::shared_ptr< PointCloud< PointT > > Ptr
Filter represents the base filter class.
void setNearPlaneDistance(float np_dist)
Set the near plane distance.
void applyFilter(PointCloud &output)
Sample of point indices into a separate PointCloud.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
float getFarPlaneDistance() const
Get the far plane distance.