frustum_culling.h

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#ifndef PCL_FILTERS_FRUSTUM_CULLING_H_
#define PCL_FILTERS_FRUSTUM_CULLING_H_

#include <pcl/point_types.h>
#include <pcl/filters/filter_indices.h>
#include <pcl/common/transforms.h>
#include <pcl/common/eigen.h>

namespace pcl
{
  template <typename PointT>
  class FrustumCulling : public FilterIndices<PointT>
  {
    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    public:

      typedef boost::shared_ptr< FrustumCulling<PointT> > Ptr;
      typedef boost::shared_ptr< const FrustumCulling<PointT> > ConstPtr;


      using Filter<PointT>::getClassName;

      FrustumCulling (bool extract_removed_indices = false) 
        : FilterIndices<PointT>::FilterIndices (extract_removed_indices)
        , camera_pose_ (Eigen::Matrix4f::Identity ())
        , hfov_ (60.0f)
        , vfov_ (60.0f)
        , np_dist_ (0.1f)
        , fp_dist_ (5.0f)
      {
        filter_name_ = "FrustumCulling";
      }

      void 
      setCameraPose (const Eigen::Matrix4f& camera_pose)
      {
        camera_pose_ = camera_pose;
      }

      Eigen::Matrix4f
      getCameraPose () const
      {
        return (camera_pose_);
      }

      void 
      setHorizontalFOV (float hfov)
      {
        hfov_ = hfov;
      }

      float 
      getHorizontalFOV () const
      {
        return (hfov_);
      }

      void 
      setVerticalFOV (float vfov)
      {
        vfov_ = vfov;
      }

      float 
      getVerticalFOV () const
      {
        return (vfov_);
      }

      void 
      setNearPlaneDistance (float np_dist)
      {
        np_dist_ = np_dist;
      }

      float
      getNearPlaneDistance () const
      {
        return (np_dist_);
      }

      void 
      setFarPlaneDistance (float fp_dist)
      {
        fp_dist_ = fp_dist;
      }

      float 
      getFarPlaneDistance () const
      {
        return (fp_dist_);
      }

    protected:
      using PCLBase<PointT>::input_;
      using PCLBase<PointT>::indices_;
      using Filter<PointT>::filter_name_;
      using FilterIndices<PointT>::negative_;
      using FilterIndices<PointT>::keep_organized_;
      using FilterIndices<PointT>::user_filter_value_;
      using FilterIndices<PointT>::extract_removed_indices_;
      using FilterIndices<PointT>::removed_indices_;

      void
      applyFilter (PointCloud &output);

      void
      applyFilter (std::vector<int> &indices);

    private:

      Eigen::Matrix4f camera_pose_;
      float hfov_;
      float vfov_;
      float np_dist_;
      float fp_dist_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif