Point Cloud Library (PCL)
1.10.0
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42 #include <pcl/filters/filter_indices.h>
43 #include <pcl/common/transforms.h>
44 #include <pcl/common/eigen.h>
76 template <
typename Po
intT>
93 , camera_pose_ (
Eigen::Matrix4f::Identity ())
123 camera_pose_ = camera_pose;
130 return (camera_pose_);
222 Eigen::Matrix4f camera_pose_;
237 #ifdef PCL_NO_PRECOMPILE
238 #include <pcl/filters/impl/frustum_culling.hpp>
Defines all the PCL and non-PCL macros used.
This file defines compatibility wrappers for low level I/O functions.
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.
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.
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.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
void applyFilter(PointCloud &output) override
Sample of point indices into a separate PointCloud.