Point Cloud Library (PCL)
1.11.1-dev
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41 #include <pcl/pcl_config.h>
43 #include <pcl/filters/filter_indices.h>
75 template <
typename Po
intT>
84 using Ptr = shared_ptr<FrustumCulling<PointT> >;
85 using ConstPtr = shared_ptr<const FrustumCulling<PointT> >;
92 , camera_pose_ (
Eigen::Matrix4f::Identity ())
122 camera_pose_ = camera_pose;
129 return (camera_pose_);
215 Eigen::Matrix4f camera_pose_;
230 #ifdef PCL_NO_PRECOMPILE
231 #include <pcl/filters/impl/frustum_culling.hpp>
shared_ptr< Filter< PointT > > Ptr
FrustumCulling filters points inside a frustum given by pose and field of view of the camera.
typename PointCloud::ConstPtr PointCloudConstPtr
typename PointCloud::Ptr PointCloudPtr
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)
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.
void applyFilter(Indices &indices) override
Sample of point indices.
shared_ptr< const Filter< PointT > > ConstPtr
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
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.
IndicesAllocator<> Indices
Type used for indices in PCL.
float getHorizontalFOV() const
Get the horizontal field of view for the camera in degrees.
std::string filter_name_
The filter name.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
float getVerticalFOV() const
Get the vertical field of view for the camera in degrees.
void setFarPlaneDistance(float fp_dist)
Set the far plane distance.
Defines functions, macros and traits for allocating and using memory.