40 #include <pcl/memory.h>
41 #include <pcl/pcl_macros.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 using Ptr = shared_ptr<FrustumCulling<PointT> >;
87 using ConstPtr = shared_ptr<const FrustumCulling<PointT> >;
94 , camera_pose_ (
Eigen::Matrix4f::Identity ())
124 camera_pose_ = camera_pose;
131 return (camera_pose_);
217 Eigen::Matrix4f camera_pose_;
232 #ifdef PCL_NO_PRECOMPILE
233 #include <pcl/filters/impl/frustum_culling.hpp>
void setVerticalFOV(float vfov)
Set the vertical field of view for the camera in degrees.
shared_ptr< PointCloud< PointT > > Ptr
float getNearPlaneDistance() const
Get the near plane distance.
void applyFilter(std::vector< int > &indices) override
Sample of point indices.
void setFarPlaneDistance(float fp_dist)
Set the far plane distance.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
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.
void setCameraPose(const Eigen::Matrix4f &camera_pose)
Set the pose of the camera w.r.t the origin.
Filter represents the base filter class.
shared_ptr< Filter< PointT > > Ptr
void setNearPlaneDistance(float np_dist)
Set the near plane distance.
typename PointCloud::Ptr PointCloudPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
FrustumCulling filters points inside a frustum given by pose and field of view of the camera...
shared_ptr< const PointCloud< PointT > > ConstPtr
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.
shared_ptr< const Filter< PointT > > ConstPtr
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.
typename PointCloud::ConstPtr PointCloudConstPtr
float getFarPlaneDistance() const
Get the far plane distance.