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FrustumCulling filters points inside a frustum given by pose and field of view of the camera. More...

#include <pcl/filters/frustum_culling.h>

Public Types

using Ptr = shared_ptr< FrustumCulling< PointT > >
using ConstPtr = shared_ptr< const FrustumCulling< PointT > >
- Public Types inherited from pcl::FilterIndices< PointT >
using PointCloud = pcl::PointCloud< PointT >
using Ptr = shared_ptr< FilterIndices< PointT > >
using ConstPtr = shared_ptr< const FilterIndices< PointT > >
- Public Types inherited from pcl::Filter< PointT >
using Ptr = shared_ptr< Filter< PointT > >
using ConstPtr = shared_ptr< const Filter< PointT > >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions

FrustumCulling (bool extract_removed_indices=false)
void setCameraPose (const Eigen::Matrix4f &camera_pose)
Set the pose of the camera w.r.t the origin. More...
Eigen::Matrix4f getCameraPose () const
Get the pose of the camera w.r.t the origin. More...
void setHorizontalFOV (float hfov)
Set the horizontal field of view for the camera in degrees. More...
float getHorizontalFOV () const
Get the horizontal field of view for the camera in degrees. More...
void setVerticalFOV (float vfov)
Set the vertical field of view for the camera in degrees. More...
float getVerticalFOV () const
Get the vertical field of view for the camera in degrees. More...
void setNearPlaneDistance (float np_dist)
Set the near plane distance. More...
float getNearPlaneDistance () const
Get the near plane distance. More...
void setFarPlaneDistance (float fp_dist)
Set the far plane distance. More...
float getFarPlaneDistance () const
Get the far plane distance. More...
- Public Member Functions inherited from pcl::FilterIndices< PointT >
FilterIndices (bool extract_removed_indices=false)
Constructor. More...
void filter (Indices &indices)
Calls the filtering method and returns the filtered point cloud indices. More...
void setNegative (bool negative)
Set whether the regular conditions for points filtering should apply, or the inverted conditions. More...
bool getNegative () const
Get whether the regular conditions for points filtering should apply, or the inverted conditions. More...
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. More...
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. More...
void setUserFilterValue (float value)
Provide a value that the filtered points should be set to instead of removing them. More...
- Public Member Functions inherited from pcl::Filter< PointT >
Filter (bool extract_removed_indices=false)
Empty constructor. More...
const IndicesConstPtr getRemovedIndices () const
Get the point indices being removed. More...
void getRemovedIndices (PointIndices &pi)
Get the point indices being removed. More...
void filter (PointCloud &output)
Calls the filtering method and returns the filtered dataset in output. More...
- Public Member Functions inherited from pcl::PCLBase< PointT >
PCLBase ()
Empty constructor. More...
PCLBase (const PCLBase &base)
Copy constructor. More...
virtual ~PCLBase ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr getInputCloud () const
Get a pointer to the input point cloud dataset. More...
virtual void setIndices (const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const IndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const PointIndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
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. More...
IndicesPtr getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
const PointT & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...

Protected Member Functions

void applyFilter (Indices &indices) override
Sample of point indices. More...
- Protected Member Functions inherited from pcl::FilterIndices< PointT >
void applyFilter (PointCloud &output) override
Abstract filter method for point cloud. More...
- Protected Member Functions inherited from pcl::Filter< PointT >
const std::string & getClassName () const
Get a string representation of the name of this class. More...
- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
This method should get called before starting the actual computation. More...
bool deinitCompute ()
This method should get called after finishing the actual computation. More...

Additional Inherited Members

- Protected Attributes inherited from pcl::FilterIndices< PointT >
bool negative_
False = normal filter behavior (default), true = inverted behavior. More...
bool keep_organized_
False = remove points (default), true = redefine points, keep structure. More...
float user_filter_value_
The user given value that the filtered point dimensions should be set to (default = NaN). More...
- Protected Attributes inherited from pcl::Filter< PointT >
IndicesPtr removed_indices_
Indices of the points that are removed. More...
std::string filter_name_
The filter name. More...
bool extract_removed_indices_
Set to true if we want to return the indices of the removed points. More...
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
The input point cloud dataset. More...
IndicesPtr indices_
A pointer to the vector of point indices to use. More...
bool use_indices_
Set to true if point indices are used. More...
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

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:

// .. read or fill the source cloud
fc.setInputCloud (source);
Eigen::Matrix4f camera_pose;
// .. read or input the camera pose from a registration algorithm.
fc.setCameraPose (camera_pose);
fc.filter (target);
Author
Aravindhan K Krishnan

Definition at line 76 of file frustum_culling.h.

Member Typedef Documentation

ConstPtr

template<typename PointT >
using pcl::FrustumCulling< PointT >::ConstPtr = shared_ptr<const FrustumCulling<PointT> >

Definition at line 85 of file frustum_culling.h.

Ptr

template<typename PointT >
using pcl::FrustumCulling< PointT >::Ptr = shared_ptr<FrustumCulling<PointT> >

Definition at line 84 of file frustum_culling.h.

Constructor & Destructor Documentation

FrustumCulling()

template<typename PointT >
pcl::FrustumCulling< PointT >::FrustumCulling ( bool extract_removed_indices = false )
inline

Definition at line 90 of file frustum_culling.h.

References pcl::Filter< PointT >::filter_name_.

Member Function Documentation

applyFilter()

template<typename PointT >
void pcl::FrustumCulling< PointT >::applyFilter ( Indices & indices )
overrideprotectedvirtual

Sample of point indices.

Parameters
[out] indices the resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 46 of file frustum_culling.hpp.

References M_PI.

getCameraPose()

template<typename PointT >
Eigen::Matrix4f pcl::FrustumCulling< PointT >::getCameraPose ( ) const
inline

Get the pose of the camera w.r.t the origin.

Definition at line 127 of file frustum_culling.h.

getFarPlaneDistance()

template<typename PointT >
float pcl::FrustumCulling< PointT >::getFarPlaneDistance ( ) const
inline

Get the far plane distance.

Definition at line 191 of file frustum_culling.h.

getHorizontalFOV()

template<typename PointT >
float pcl::FrustumCulling< PointT >::getHorizontalFOV ( ) const
inline

Get the horizontal field of view for the camera in degrees.

Definition at line 143 of file frustum_culling.h.

getNearPlaneDistance()

template<typename PointT >
float pcl::FrustumCulling< PointT >::getNearPlaneDistance ( ) const
inline

Get the near plane distance.

Definition at line 175 of file frustum_culling.h.

getVerticalFOV()

template<typename PointT >
float pcl::FrustumCulling< PointT >::getVerticalFOV ( ) const
inline

Get the vertical field of view for the camera in degrees.

Definition at line 159 of file frustum_culling.h.

setCameraPose()

template<typename PointT >
void pcl::FrustumCulling< PointT >::setCameraPose ( const Eigen::Matrix4f & camera_pose )
inline

Set the pose of the camera w.r.t the origin.

Parameters
[in] camera_pose the camera pose

Note: This assumes a coordinate system where X is forward, Y is up, and Z is right. To convert from the traditional camera coordinate system (X right, Y down, Z forward), one can use:

Eigen::Matrix4f pose_orig = //pose in camera coordinates
Eigen::Matrix4f cam2robot;
cam2robot << 0, 0, 1, 0
0,-1, 0, 0
1, 0, 0, 0
0, 0, 0, 1;
Eigen::Matrix4f pose_new = pose_orig * cam2robot;
fc.setCameraPose (pose_new);

Definition at line 120 of file frustum_culling.h.

setFarPlaneDistance()

template<typename PointT >
void pcl::FrustumCulling< PointT >::setFarPlaneDistance ( float fp_dist )
inline

Set the far plane distance.

Parameters
[in] fp_dist the far plane distance

Definition at line 184 of file frustum_culling.h.

setHorizontalFOV()

template<typename PointT >
void pcl::FrustumCulling< PointT >::setHorizontalFOV ( float hfov )
inline

Set the horizontal field of view for the camera in degrees.

Parameters
[in] hfov the field of view

Definition at line 136 of file frustum_culling.h.

setNearPlaneDistance()

template<typename PointT >
void pcl::FrustumCulling< PointT >::setNearPlaneDistance ( float np_dist )
inline

Set the near plane distance.

Parameters
[in] np_dist the near plane distance

Definition at line 168 of file frustum_culling.h.

setVerticalFOV()

template<typename PointT >
void pcl::FrustumCulling< PointT >::setVerticalFOV ( float vfov )
inline

Set the vertical field of view for the camera in degrees.

Parameters
[in] vfov the field of view

Definition at line 152 of file frustum_culling.h.


The documentation for this class was generated from the following files:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_frustum_culling.html