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