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 |
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| using | Ptr = shared_ptr< FrustumCulling< PointT > > |
| using | ConstPtr = shared_ptr< const FrustumCulling< PointT > > |
 Public Types inherited from pcl::FilterIndices< PointT > |
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| 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 > |
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| 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 > |
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| 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 |
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| 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... |
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| Eigen::Matrix4f | getCameraPose () const |
| Get the pose of the camera w.r.t the origin. More... |
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| void | setHorizontalFOV (float hfov) |
| Set the horizontal field of view for the camera in degrees. More... |
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| float | getHorizontalFOV () const |
| Get the horizontal field of view for the camera in degrees. More... |
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| void | setVerticalFOV (float vfov) |
| Set the vertical field of view for the camera in degrees. More... |
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| float | getVerticalFOV () const |
| Get the vertical field of view for the camera in degrees. More... |
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| void | setNearPlaneDistance (float np_dist) |
| Set the near plane distance. More... |
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| float | getNearPlaneDistance () const |
| Get the near plane distance. More... |
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| void | setFarPlaneDistance (float fp_dist) |
| Set the far plane distance. More... |
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| float | getFarPlaneDistance () const |
| Get the far plane distance. More... |
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| Public Member Functions inherited from pcl::FilterIndices< PointT > |
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| FilterIndices (bool extract_removed_indices=false) | |
| Constructor. More... |
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| void | filter (Indices &indices) |
| Calls the filtering method and returns the filtered point cloud indices. More... |
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| void | setNegative (bool negative) |
| Set whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| bool | getNegative () const |
| Get whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| 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... |
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| 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... |
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| void | setUserFilterValue (float value) |
| Provide a value that the filtered points should be set to instead of removing them. More... |
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| Public Member Functions inherited from pcl::Filter< PointT > |
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| Filter (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| const IndicesConstPtr | getRemovedIndices () const |
| Get the point indices being removed. More... |
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| void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed. More... |
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| void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| void | applyFilter (Indices &indices) override |
| Sample of point indices. More... |
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| Protected Member Functions inherited from pcl::FilterIndices< PointT > |
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| void | applyFilter (PointCloud &output) override |
| Abstract filter method for point cloud. More... |
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| Protected Member Functions inherited from pcl::Filter< PointT > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Additional Inherited Members |
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| Protected Attributes inherited from pcl::FilterIndices< PointT > |
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| bool | negative_ |
| False = normal filter behavior (default), true = inverted behavior. More... |
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| bool | keep_organized_ |
| False = remove points (default), true = redefine points, keep structure. More... |
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| float | user_filter_value_ |
| The user given value that the filtered point dimensions should be set to (default = NaN). More... |
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| Protected Attributes inherited from pcl::Filter< PointT > |
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| IndicesPtr | removed_indices_ |
| Indices of the points that are removed. More... |
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| std::string | filter_name_ |
| The filter name. More... |
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| bool | extract_removed_indices_ |
| Set to true if we want to return the indices of the removed points. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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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);
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);
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 >
|
inline |
Definition at line 90 of file frustum_culling.h.
References pcl::Filter< PointT >::filter_name_.
Member Function Documentation
applyFilter()
template<typename PointT >
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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 >
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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 >
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inline |
Get the far plane distance.
Definition at line 191 of file frustum_culling.h.
getHorizontalFOV()
template<typename PointT >
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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 >
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inline |
Get the near plane distance.
Definition at line 175 of file frustum_culling.h.
getVerticalFOV()
template<typename PointT >
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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 >
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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 >
|
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 >
|
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 >
|
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 >
|
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:
- pcl/filters/frustum_culling.h
- pcl/filters/impl/frustum_culling.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_frustum_culling.html
