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

#include <pcl/filters/frustum_culling.h>

Inheritance diagram for pcl::FrustumCulling< PointT >:

Collaboration diagram for pcl::FrustumCulling< PointT >:

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...

void	setHorizontalFOV (float fov_left_bound, float fov_right_bound)
	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	getHorizontalFOV (float &fov_left_bound, float &fov_right_bound) 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...

void	setVerticalFOV (float fov_lower_bound, float fov_upper_bound)
	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	getVerticalFOV (float &fov_lower_bound, float &fov_upper_bound) 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...

void	setRegionOfInterest (float roi_x, float roi_y, float roi_w, float roi_h)
	Set the region of interest (ROI) in normalized values. More...

void	getRegionOfInterest (float &roi_x, float &roi_y, float &roi_w, float &roi_h) const
	Get the region of interest (ROI) in normalized values. 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...

IndicesConstPtr const	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...

PointCloudConstPtr const	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...

IndicesConstPtr const	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}
	False = normal filter behavior (default), true = inverted behavior. More...

bool	keep_organized_ {false}
	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...

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 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 >

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

inline

Definition at line 90 of file frustum_culling.h.

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

Member Function Documentation

◆ applyFilter()

template<typename PointT >

void pcl::FrustumCulling< PointT >::applyFilter ( Indices & indices )

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 >

Eigen::Matrix4f pcl::FrustumCulling< PointT >::getCameraPose ( ) const

inline

Get the pose of the camera w.r.t the origin.

Definition at line 123 of file frustum_culling.h.

◆ getFarPlaneDistance()

template<typename PointT >

float pcl::FrustumCulling< PointT >::getFarPlaneDistance ( ) const

inline

Get the far plane distance.

Definition at line 286 of file frustum_culling.h.

◆ getHorizontalFOV() [1/2]

template<typename PointT >

float pcl::FrustumCulling< PointT >::getHorizontalFOV ( ) const

inline

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

Definition at line 169 of file frustum_culling.h.

◆ getHorizontalFOV() [2/2]

template<typename PointT >

void pcl::FrustumCulling< PointT >::getHorizontalFOV	(	float &	fov_left_bound,
		float &	fov_right_bound
	)		const

inline

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

Definition at line 182 of file frustum_culling.h.

◆ getNearPlaneDistance()

template<typename PointT >

float pcl::FrustumCulling< PointT >::getNearPlaneDistance ( ) const

inline

Get the near plane distance.

Definition at line 264 of file frustum_culling.h.

◆ getRegionOfInterest()

template<typename PointT >

void pcl::FrustumCulling< PointT >::getRegionOfInterest	(	float &	roi_x,
		float &	roi_y,
		float &	roi_w,
		float &	roi_h
	)		const

inline

Get the region of interest (ROI) in normalized values.

Parameters

[in]	roi_x	X center position of ROI
[in]	roi_y	Y center position of ROI
[in]	roi_w	Width of ROI
[in]	roi_h	Height of ROI

Definition at line 327 of file frustum_culling.h.

◆ getVerticalFOV() [1/2]

template<typename PointT >

float pcl::FrustumCulling< PointT >::getVerticalFOV ( ) const

inline

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

Definition at line 229 of file frustum_culling.h.

◆ getVerticalFOV() [2/2]

template<typename PointT >

void pcl::FrustumCulling< PointT >::getVerticalFOV	(	float &	fov_lower_bound,
		float &	fov_upper_bound
	)		const

inline

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

Definition at line 242 of file frustum_culling.h.

◆ setCameraPose()

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 116 of file frustum_culling.h.

◆ setFarPlaneDistance()

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. You can set this to std::numeric_limits<float>::max(), then points will not be filtered by the far plane.

Definition at line 274 of file frustum_culling.h.

◆ setHorizontalFOV() [1/2]

template<typename PointT >

void pcl::FrustumCulling< PointT >::setHorizontalFOV	(	float	fov_left_bound,
		float	fov_right_bound
	)

inline

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

Parameters

[in]	fov_left_bound	the left bound of horizontal field of view
[in]	fov_right_bound	the right bound of horizontal field of view Note: Bounds can be either positive or negative values. Negative value means the camera would look to its left, and positive value means the camera would look to its right. In general cases, fov_left_bound should be set to a negative value, if it is set to a positive value, the camera would only look to its right. Also note that setHorizontalFOV(-30.0, 30.0) is equivalent to setHorizontalFOV(60.0).

Definition at line 155 of file frustum_culling.h.

◆ setHorizontalFOV() [2/2]

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 Note: setHorizontalFOV(60.0) is equivalent to setHorizontalFOV(-30.0, 30.0).

Definition at line 133 of file frustum_culling.h.

◆ setNearPlaneDistance()

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. You can set this to 0 to disable near-plane filtering and extract a rectangular pyramid instead of a frustum.

Definition at line 252 of file frustum_culling.h.

◆ setRegionOfInterest()

template<typename PointT >

void pcl::FrustumCulling< PointT >::setRegionOfInterest	(	float	roi_x,
		float	roi_y,
		float	roi_w,
		float	roi_h
	)

inline

Set the region of interest (ROI) in normalized values.

Default value of ROI: roi_{x, y} = 0.5, roi_{w, h} = 1.0 This corresponds to maximal FoV and returns all the points in the frustum Can be used to cut out objects based on 2D bounding boxes by object detection.

Parameters

[in]	roi_x	X center position of ROI
[in]	roi_y	Y center position of ROI
[in]	roi_w	Width of ROI
[in]	roi_h	Height of ROI

Definition at line 303 of file frustum_culling.h.

◆ setVerticalFOV() [1/2]

template<typename PointT >

void pcl::FrustumCulling< PointT >::setVerticalFOV	(	float	fov_lower_bound,
		float	fov_upper_bound
	)

inline

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

Parameters

[in]	fov_lower_bound	the lower bound of vertical field of view
[in]	fov_upper_bound	the upper bound of vertical field of view Note: Bounds can be either positive or negative values. Negative value means the camera would look down, and positive value means the camera would look up. In general cases, fov_lower_bound should be set to a negative value, if it is set to a positive value, the camera would only look up. Also note that setVerticalFOV(-30.0, 30.0) is equivalent to setVerticalFOV(60.0).

Definition at line 215 of file frustum_culling.h.

◆ setVerticalFOV() [2/2]

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 Note: setVerticalFOV(60.0) is equivalent to setVerticalFOV(-30.0, 30.0).

Definition at line 193 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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ FrustumCulling()

Member Function Documentation

◆ applyFilter()

◆ getCameraPose()

◆ getFarPlaneDistance()

◆ getHorizontalFOV() [1/2]

◆ getHorizontalFOV() [2/2]

◆ getNearPlaneDistance()

◆ getRegionOfInterest()

◆ getVerticalFOV() [1/2]

◆ getVerticalFOV() [2/2]

◆ setCameraPose()

◆ setFarPlaneDistance()

◆ setHorizontalFOV() [1/2]

◆ setHorizontalFOV() [2/2]

◆ setNearPlaneDistance()

◆ setRegionOfInterest()

◆ setVerticalFOV() [1/2]

◆ setVerticalFOV() [2/2]

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