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| FrustumCulling (bool extract_removed_indices=false) |
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void | setCameraPose (const Eigen::Matrix4f &camera_pose) |
| Set the pose of the camera w.r.t the origin.
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Eigen::Matrix4f | getCameraPose () const |
| Get the pose of the camera w.r.t the origin.
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void | setHorizontalFOV (float hfov) |
| Set the horizontal field of view for the camera in degrees.
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float | getHorizontalFOV () const |
| Get the horizontal field of view for the camera in degrees.
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void | setVerticalFOV (float vfov) |
| Set the vertical field of view for the camera in degrees.
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float | getVerticalFOV () const |
| Get the vertical field of view for the camera in degrees.
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void | setNearPlaneDistance (float np_dist) |
| Set the near plane distance.
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float | getNearPlaneDistance () const |
| Get the near plane distance.
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void | setFarPlaneDistance (float fp_dist) |
| Set the far plane distance.
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float | getFarPlaneDistance () const |
| Get the far plane distance.
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| FilterIndices (bool extract_removed_indices=false) |
| Constructor.
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void | filter (Indices &indices) |
| Calls the filtering method and returns the filtered point cloud indices.
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void | setNegative (bool negative) |
| Set whether the regular conditions for points filtering should apply, or the inverted conditions.
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bool | getNegative () const |
| Get whether the regular conditions for points filtering should apply, or the inverted conditions.
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void | setKeepOrganized (bool keep_organized) |
| Set whether the filtered points should be kept and set to the value given through setUserFilterValue (default: NaN), or removed from the PointCloud, thus potentially breaking its organized structure.
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bool | getKeepOrganized () const |
| Get whether the filtered points should be kept and set to the value given through setUserFilterValue (default = NaN), or removed from the PointCloud, thus potentially breaking its organized structure.
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void | setUserFilterValue (float value) |
| Provide a value that the filtered points should be set to instead of removing them.
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| Filter (bool extract_removed_indices=false) |
| Empty constructor.
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IndicesConstPtr const | getRemovedIndices () const |
| Get the point indices being removed.
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void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed.
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void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output.
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| PCLBase () |
| Empty constructor.
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| PCLBase (const PCLBase &base) |
| Copy constructor.
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virtual | ~PCLBase ()=default |
| Destructor.
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virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset.
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PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset.
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virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud.
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IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used.
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IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used.
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const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code.
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template<typename
PointT>
class pcl::FrustumCulling< PointT >
FrustumCulling filters points inside a frustum given by pose and field of view of the camera.
Code example:
Eigen::Matrix4f camera_pose;
pcl::PointCloud <pcl::PointXYZ> target;
void filter(Indices &indices)
Calls the filtering method and returns the filtered point cloud indices.
FrustumCulling filters points inside a frustum given by pose and field of view of the camera.
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.
void setCameraPose(const Eigen::Matrix4f &camera_pose)
Set the pose of the camera w.r.t the origin.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
shared_ptr< PointCloud< PointT > > Ptr
- Author
- Aravindhan K Krishnan
Definition at line 76 of file frustum_culling.h.