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passthrough.hpp
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/
passthrough.hpp
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#pragma once
#include <stdint.h>
extern "C"
{
void cupcl_passthrough_filter(
void* stream,
void* cloud,
uint32_t num_points,
uint32_t point_step,
float min_dist,
float max_dist,
float min_x,
float min_y,
float min_z,
float max_x,
float max_y,
float max_z,
bool invert_bounding_box,
bool invert_distance,
float* cloud_filtered,
uint32_t* num_points_filtered,
float rotation_x,
float rotation_y,
float rotation_z,
float rotation_w,
float translation_x,
float translation_y,
float translation_z,
float fov_right,
float fov_left,
float forward_x,
float forward_y,
bool enable_vertical_fov,
bool invert_fov,
float* polygon,
int polygon_size,
bool invert_polygon,
float min_intensity,
float max_intensity,
bool invert_intensity);
void* cupcl_init_voxel_filter(void* stream, float voxel_size_x, float voxel_size_y, float voxel_size_z);
uint32_t cupcl_voxel_filter(void* filter_instance, void* stream, float* input, uint32_t input_n, float* filtered);
void cupcl_free_voxel_filter(void* filter_instance);
}