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>
Filter represents the base filter class.
bool extract_removed_indices_
Set to true if we want to return the indices of the removed points.
const std::string & getClassName() const
Get a string representation of the name of this class.
std::string filter_name_
The filter name.
IndicesPtr removed_indices_
Indices of the points that are removed.
FilterIndices represents the base class for filters that are about binary point removal.
float user_filter_value_
The user given value that the filtered point dimensions should be set to (default = NaN).
bool keep_organized_
False = remove points (default), true = redefine points, keep structure.
bool negative_
False = normal filter behavior (default), true = inverted behavior.
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.
float getNearPlaneDistance() const
Get the near plane distance.
float getHorizontalFOV() const
Get the horizontal field of view for the camera in degrees.
void setNearPlaneDistance(float np_dist)
Set the near plane distance.
void setVerticalFOV(float vfov)
Set the vertical field of view for the camera in degrees.
void setFarPlaneDistance(float fp_dist)
Set the far plane distance.
void setHorizontalFOV(float hfov)
Set the horizontal field of view for the camera in degrees.
FrustumCulling(bool extract_removed_indices=false)
shared_ptr< const FrustumCulling< PointT > > ConstPtr
float getFarPlaneDistance() const
Get the far plane distance.
Eigen::Matrix4f getCameraPose() const
Get the pose of the camera w.r.t the origin.
shared_ptr< FrustumCulling< PointT > > Ptr
void setCameraPose(const Eigen::Matrix4f &camera_pose)
Set the pose of the camera w.r.t the origin.
void applyFilter(Indices &indices) override
Sample of point indices.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
Defines all the PCL implemented PointT point type structures.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines functions, macros and traits for allocating and using memory.
IndicesAllocator<> Indices
Type used for indices in PCL.
A point structure representing Euclidean xyz coordinates, and the RGB color.