pcl::FrustumCulling< PointT > Class Template Reference
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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>

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List of all members.

Public Types

typedef boost::shared_ptr
< FrustumCulling< PointT > > 		Ptr
typedef boost::shared_ptr
< const FrustumCulling< PointT > > 		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.
Eigen::Matrix4f getCameraPose () const
 Get the pose of the camera w.r.t the origin.
void setHorizontalFOV (float hfov)
 Set the horizontal field of view for the camera in degrees.
float getHorizontalFOV () const
 Get the horizontal field of view for the camera in degrees.
void setVerticalFOV (float vfov)
 Set the vertical field of view for the camera in degrees.
float getVerticalFOV () const
 Get the vertical field of view for the camera in degrees.
void setNearPlaneDistance (float np_dist)
 Set the near plane distance.
float getNearPlaneDistance () const
 Get the near plane distance.
void setFarPlaneDistance (float fp_dist)
 Set the far plane distance.
float getFarPlaneDistance () const
 Get the far plane distance.

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.

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 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.

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

Member Function Documentation

template<typename PointT >
void pcl::FrustumCulling< PointT >::applyFilter ( std::vector< int > &  indices  )  [inline, 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.

References pcl::Filter< PointT >::extract_removed_indices_, pcl::PCLBase< PointT >::indices_, pcl::PCLBase< PointT >::input_, pcl::FilterIndices< PointT >::negative_, and pcl::Filter< PointT >::removed_indices_.

template<typename PointT >
void pcl::FrustumCulling< PointT >::applyFilter ( PointCloud &  output  )  [inline, 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.

References pcl::PointCloud< PointT >::at(), pcl::copyPointCloud(), pcl::Filter< PointT >::extract_removed_indices_, pcl::PCLBase< PointT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::FilterIndices< PointT >::keep_organized_, pcl::Filter< PointT >::removed_indices_, and pcl::FilterIndices< PointT >::user_filter_value_.

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.

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