50 #include "opencv2/calib3d/calib3d.hpp" 51 #include "opencv2/photo/photo.hpp" 67 std::vector<bool> &mask)
const {
70 mask.resize(pointcloud.rows,
true);
72 for (
int i_point = pointcloud.rows - 1; i_point >= 0; i_point--) {
79 cv::Vec3f v((
float*) pointcloud.ptr(i_point));
101 if (std::fabs(v[0]) >
105 if (std::fabs(v[1]) >
109 if (std::fabs(v[2]) >
116 if (v[0] * v[0] + v[1] * v[1] + v[2] * v[2] >
123 if (v[1] * v[1] + v[2] * v[2] >
127 if (std::fabs(v[0]) >
142 if ((v[1] * v[1] + v[2] * v[2]) > (v[0] * v[0]) *
151 if (check ==
false) {
153 mask[i_point] =
false;
std::vector< cPcdFilterPaFilter > filters_
internal filters for pointcloud
std::vector< int > pointcloudFilter(const cv::Mat &pointcloud, std::vector< bool > &mask) const
~cPcdFilterPa()
default destructor
cPcdFilterPa()
default constructor
cPcdFilterPaParameter params_
specific parameter