Point Cloud Library (PCL)
1.11.1-dev
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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... | |
FrustumCulling filters points inside a frustum given by pose and field of view of the camera.
Code example:
Definition at line 76 of file frustum_culling.h.
using pcl::FrustumCulling< PointT >::ConstPtr = shared_ptr<const FrustumCulling<PointT> > |
Definition at line 85 of file frustum_culling.h.
using pcl::FrustumCulling< PointT >::Ptr = shared_ptr<FrustumCulling<PointT> > |
Definition at line 84 of file frustum_culling.h.
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Definition at line 90 of file frustum_culling.h.
References pcl::Filter< PointT >::filter_name_.
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Sample of point indices.
[out] | indices | the resultant point cloud indices |
Implements pcl::FilterIndices< PointT >.
Definition at line 46 of file frustum_culling.hpp.
References M_PI.
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Get the pose of the camera w.r.t the origin.
Definition at line 127 of file frustum_culling.h.
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Get the far plane distance.
Definition at line 191 of file frustum_culling.h.
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Get the horizontal field of view for the camera in degrees.
Definition at line 143 of file frustum_culling.h.
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Get the near plane distance.
Definition at line 175 of file frustum_culling.h.
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Get the vertical field of view for the camera in degrees.
Definition at line 159 of file frustum_culling.h.
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Set the pose of the camera w.r.t the origin.
[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:
Definition at line 120 of file frustum_culling.h.
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Set the far plane distance.
[in] | fp_dist | the far plane distance |
Definition at line 184 of file frustum_culling.h.
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Set the horizontal field of view for the camera in degrees.
[in] | hfov | the field of view |
Definition at line 136 of file frustum_culling.h.
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Set the near plane distance.
[in] | np_dist | the near plane distance |
Definition at line 168 of file frustum_culling.h.
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Set the vertical field of view for the camera in degrees.
[in] | vfov | the field of view |
Definition at line 152 of file frustum_culling.h.