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

#include <frustum_culling.h>

Inheritance diagram for pcl::FrustumCulling< PointT >:

Public Types
typedef boost::shared_ptr < const FrustumCulling< PointT > >	ConstPtr
typedef boost::shared_ptr < FrustumCulling< PointT > >	Ptr
Public Member Functions
	FrustumCulling (bool extract_removed_indices=false)
Eigen::Matrix4f	getCameraPose () const
	Get the pose of the camera w.r.t the origin.
float	getFarPlaneDistance () const
	Get the far plane distance.
float	getHorizontalFOV () const
	Get the horizontal field of view for the camera in degrees.
float	getNearPlaneDistance () const
	Get the near plane distance.
float	getVerticalFOV () const
	Get the vertical 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.
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	setNearPlaneDistance (float np_dist)
	Set the near plane distance.
void	setVerticalFOV (float vfov)
	Set the vertical field of view for the camera in degrees.
Protected Member Functions
void	applyFilter (PointCloud &output)
	Sample of point indices into a separate PointCloud.
void	applyFilter (std::vector< int > &indices)
	Sample of point indices.
Private Types
typedef Filter< PointT > ::PointCloud	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Private Attributes
Eigen::Matrix4f	camera_pose_
	The camera pose.
float	fp_dist_
	Far plane distance.
float	hfov_
	Horizontal field of view.
float	np_dist_
	Near plane distance.
float	vfov_
	Vertical field of view.

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:

 pcl::PointCloud <pcl::PointXYZ>::Ptr source; 
 // .. read or fill the source cloud

 pcl::FrustumCulling<pcl::PointXYZ> fc;
 fc.setInputCloud (source);
 fc.setVerticalFOV (45);
 fc.setHorizontalFOV (60);
 fc.setNearPlaneDistance (5.0);
 fc.setFarPlaneDistance (15);

 Eigen::Matrix4f camera_pose;
 // .. read or input the camera pose from a registration algorithm.
 fc.setCameraPose (camera_pose);

 pcl::PointCloud <pcl::PointXYZ> target;
 fc.filter (target);

Author:: Aravindhan K Krishnan

Definition at line 78 of file frustum_culling.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const FrustumCulling<PointT> > pcl::FrustumCulling< PointT >::ConstPtr

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 87 of file frustum_culling.h.

template<typename PointT>

typedef Filter<PointT>::PointCloud pcl::FrustumCulling< PointT >::PointCloud [private]

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 80 of file frustum_culling.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::FrustumCulling< PointT >::PointCloudConstPtr [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 82 of file frustum_culling.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::FrustumCulling< PointT >::PointCloudPtr [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 81 of file frustum_culling.h.

template<typename PointT>

typedef boost::shared_ptr< FrustumCulling<PointT> > pcl::FrustumCulling< PointT >::Ptr

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 86 of file frustum_culling.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::FrustumCulling< PointT >::FrustumCulling ( bool extract_removed_indices = false ) [inline]

Definition at line 92 of file frustum_culling.h.

Member Function Documentation

template<typename PointT >

void pcl::FrustumCulling< PointT >::applyFilter ( PointCloud & output ) [protected, virtual]

Sample of point indices into a separate PointCloud.

Parameters:

[out] output the resultant point cloud

Implements pcl::Filter< PointT >.

Definition at line 47 of file frustum_culling.hpp.

template<typename PointT >

void pcl::FrustumCulling< PointT >::applyFilter ( std::vector< int > & indices ) [protected, virtual]

Sample of point indices.

Parameters:

[out] indices the resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 76 of file frustum_culling.hpp.

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 129 of file frustum_culling.h.

template<typename PointT>

float pcl::FrustumCulling< PointT >::getFarPlaneDistance ( ) const [inline]

Get the far plane distance.

Definition at line 193 of file frustum_culling.h.

template<typename PointT>

float pcl::FrustumCulling< PointT >::getHorizontalFOV ( ) const [inline]

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

Definition at line 145 of file frustum_culling.h.

template<typename PointT>

float pcl::FrustumCulling< PointT >::getNearPlaneDistance ( ) const [inline]

Get the near plane distance.

Definition at line 177 of file frustum_culling.h.

template<typename PointT>

float pcl::FrustumCulling< PointT >::getVerticalFOV ( ) const [inline]

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

Definition at line 161 of file frustum_culling.h.

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 122 of file frustum_culling.h.

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 186 of file frustum_culling.h.

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 138 of file frustum_culling.h.

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 170 of file frustum_culling.h.

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 154 of file frustum_culling.h.

Member Data Documentation

template<typename PointT>

Eigen::Matrix4f pcl::FrustumCulling< PointT >::camera_pose_ [private]

The camera pose.

Definition at line 223 of file frustum_culling.h.

template<typename PointT>

float pcl::FrustumCulling< PointT >::fp_dist_ [private]

Far plane distance.

Definition at line 231 of file frustum_culling.h.

template<typename PointT>

float pcl::FrustumCulling< PointT >::hfov_ [private]

Horizontal field of view.

Definition at line 225 of file frustum_culling.h.

template<typename PointT>

float pcl::FrustumCulling< PointT >::np_dist_ [private]

Near plane distance.

Definition at line 229 of file frustum_culling.h.

template<typename PointT>

float pcl::FrustumCulling< PointT >::vfov_ [private]

Vertical field of view.

Definition at line 227 of file frustum_culling.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Types

Private Attributes

Detailed Description

template<typename PointT> class pcl::FrustumCulling< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::FrustumCulling< PointT >