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