frustum_culling.h

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#pragma once
 
#include <pcl/memory.h>
#include <pcl/pcl_config.h> // for PCL_NO_PRECOMPILE
#include <pcl/point_types.h>
#include <pcl/filters/filter_indices.h>
 
namespace pcl
{
  /** \brief FrustumCulling filters points inside a frustum
   *  given by pose and field of view of the camera.
   *
   * Code example:
   *
   * \code
   * 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);
   * \endcode
   *
   *
   * \author Aravindhan K Krishnan
   * \ingroup filters
   */
  template <typename PointT>
  class FrustumCulling : public FilterIndices<PointT>
  {
    using PointCloud = typename Filter<PointT>::PointCloud;
    using PointCloudPtr = typename PointCloud::Ptr;
    using PointCloudConstPtr = typename PointCloud::ConstPtr;
 
    public:
 
      using Ptr = shared_ptr<FrustumCulling<PointT> >;
      using ConstPtr = shared_ptr<const FrustumCulling<PointT> >;
 
 
      using Filter<PointT>::getClassName;
 
      FrustumCulling (bool extract_removed_indices = false) 
        : FilterIndices<PointT> (extract_removed_indices)
        , camera_pose_ (Eigen::Matrix4f::Identity ())
        , fov_left_bound_ (-30.0f)
        , fov_right_bound_ (30.0f)
        , fov_lower_bound_ (-30.0f)
        , fov_upper_bound_ (30.0f)
        , np_dist_ (0.1f)
        , fp_dist_ (5.0f)
        , roi_x_ (0.5f)
        , roi_y_ (0.5f)
        , roi_w_ (1.0f)
        , roi_h_ (1.0f)
      {
        filter_name_ = "FrustumCulling";
      }
 
      /** \brief Set the pose of the camera w.r.t the origin
        * \param[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:
        *
        * \code
        * 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);
        * \endcode
        */
      void 
      setCameraPose (const Eigen::Matrix4f& camera_pose)
      {
        camera_pose_ = camera_pose;
      }
 
      /** \brief Get the pose of the camera w.r.t the origin */
      Eigen::Matrix4f
      getCameraPose () const
      {
        return (camera_pose_);
      }
 
      /** \brief Set the horizontal field of view for the camera in degrees
        * \param[in] hfov the field of view
        * Note: setHorizontalFOV(60.0) is equivalent to setHorizontalFOV(-30.0, 30.0).
        */
      void 
      setHorizontalFOV (float hfov)
      {
        if (hfov <= 0 || hfov >= 180)
        {
          throw PCLException ("Horizontal field of view should be between 0 and 180(excluded).",
            "frustum_culling.h", "setHorizontalFOV");
        }
        fov_left_bound_ = -hfov / 2;
        fov_right_bound_ = hfov / 2;
      }
 
      /** \brief Set the horizontal field of view for the camera in degrees
        * \param[in] fov_left_bound the left bound of horizontal field of view
        * \param[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).
        */
      void
      setHorizontalFOV (float fov_left_bound, float fov_right_bound)
      {
        if (fov_left_bound <= -90 || fov_right_bound >= 90 || fov_left_bound >= fov_right_bound)
        {
          throw PCLException ("Horizontal field of view bounds should be between -90 and 90(excluded). "
              "And left bound should be smaller than right bound.",
            "frustum_culling.h", "setHorizontalFOV");
        }
        fov_left_bound_ = fov_left_bound;
        fov_right_bound_ = fov_right_bound;
      }
 
      /** \brief Get the horizontal field of view for the camera in degrees */
      float
      getHorizontalFOV() const
      {
        if (std::fabs(fov_right_bound_) != std::fabs(fov_left_bound_)) {
          PCL_WARN("Your horizontal field of view is asymmetrical: "
            "left bound's absolute value(%f) != right bound's absolute value(%f)! "
            "Please use getHorizontalFOV (float& fov_left_bound, float& fov_right_bound) instead.\n",
            std::fabs(fov_left_bound_), std::fabs(fov_right_bound_));
        }
        return (fov_right_bound_ - fov_left_bound_);
      }
 
      /** \brief Get the horizontal field of view for the camera in degrees */
      void
      getHorizontalFOV (float& fov_left_bound, float& fov_right_bound) const
      {
        fov_left_bound = fov_left_bound_;
        fov_right_bound = fov_right_bound_;
      }
 
      /** \brief Set the vertical field of view for the camera in degrees
        * \param[in] vfov the field of view
        * Note: setVerticalFOV(60.0) is equivalent to setVerticalFOV(-30.0, 30.0).
        */
      void 
      setVerticalFOV (float vfov)
      {
        if (vfov <= 0 || vfov >= 180)
        {
          throw PCLException ("Vertical field of view should be between 0 and 180(excluded).",
            "frustum_culling.h", "setVerticalFOV");
        }
        fov_lower_bound_ = -vfov / 2;
        fov_upper_bound_ = vfov / 2;
      }
 
      /** \brief Set the vertical field of view for the camera in degrees
        * \param[in] fov_lower_bound the lower bound of vertical field of view
        * \param[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).
        */
      void
      setVerticalFOV (float fov_lower_bound, float fov_upper_bound)
      {
        if (fov_lower_bound <= -90 || fov_upper_bound >= 90 || fov_lower_bound >= fov_upper_bound)
        {
          throw PCLException ("Vertical field of view bounds should be between -90 and 90(excluded). "
              "And lower bound should be smaller than upper bound.",
            "frustum_culling.h", "setVerticalFOV");
        }
        fov_lower_bound_ = fov_lower_bound;
        fov_upper_bound_ = fov_upper_bound;
      }
 
      /** \brief Get the vertical field of view for the camera in degrees */
      float
      getVerticalFOV() const
      {
        if (std::fabs(fov_upper_bound_) != std::fabs(fov_lower_bound_)) {
          PCL_WARN("Your vertical field of view is asymmetrical: "
            "lower bound's absolute value(%f) != upper bound's absolute value(%f)! "
            "Please use getVerticalFOV (float& fov_lower_bound, float& fov_upper_bound) instead.\n",
            std::fabs(fov_lower_bound_), std::fabs(fov_upper_bound_));
        }
        return (fov_upper_bound_ - fov_lower_bound_);
      }
 
      /** \brief Get the vertical field of view for the camera in degrees */
      void
      getVerticalFOV (float& fov_lower_bound, float& fov_upper_bound) const
      {
        fov_lower_bound = fov_lower_bound_;
        fov_upper_bound = fov_upper_bound_;
      }
 
      /** \brief Set the near plane distance
        * \param[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.
        */
      void 
      setNearPlaneDistance (float np_dist)
      {
        if (np_dist < 0.0f)
        {
          throw PCLException ("Near plane distance should be greater than or equal to 0.",
            "frustum_culling.h", "setNearPlaneDistance");
        }
        np_dist_ = np_dist;
      }
 
      /** \brief Get the near plane distance. */
      float
      getNearPlaneDistance () const
      {
        return (np_dist_);
      }
 
      /** \brief Set the far plane distance
        * \param[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.
        */
      void 
      setFarPlaneDistance (float fp_dist)
      {
        if (fp_dist <= 0.0f)
        {
          throw PCLException ("Far plane distance should be greater than 0.",
            "frustum_culling.h", "setFarPlaneDistance");
        }
        fp_dist_ = fp_dist;
      }
 
      /** \brief Get the far plane distance */
      float 
      getFarPlaneDistance () const
      {
        return (fp_dist_);
      }
      
      /** \brief 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.
        * 
        * \param[in] roi_x X center position of ROI
        * \param[in] roi_y Y center position of ROI
        * \param[in] roi_w Width of ROI
        * \param[in] roi_h Height of ROI
        */
      void 
      setRegionOfInterest (float roi_x, float roi_y, float roi_w, float roi_h)
      {
        if ((roi_x > 1.0f) || (roi_x < 0.0f) ||
            (roi_y > 1.0f) || (roi_y < 0.0f) ||
            (roi_w <= 0.0f) || (roi_w > 1.0f) ||
            (roi_h <= 0.0f) || (roi_h > 1.0f))
        {
          throw PCLException ("ROI X-Y values should be between 0 and 1. " 
            "Width and height must not be zero.", 
            "frustum_culling.h", "setRegionOfInterest");
        }
        roi_x_ = roi_x;
        roi_y_ = roi_y;
        roi_w_ = roi_w;
        roi_h_ = roi_h;
      }
      
      /** \brief Get the region of interest (ROI) in normalized values
        * \param[in] roi_x X center position of ROI
        * \param[in] roi_y Y center position of ROI
        * \param[in] roi_w Width of ROI 
        * \param[in] roi_h Height of ROI
        */
      void 
      getRegionOfInterest (float &roi_x, float &roi_y, float &roi_w, float &roi_h) const
      {
        roi_x = roi_x_;
        roi_y = roi_y_;
        roi_w = roi_w_;
        roi_h = roi_h_;
      }
 
    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_;
 
      /** \brief Sample of point indices
        * \param[out] indices the resultant point cloud indices
        */
      void
      applyFilter (Indices &indices) override;
 
    private:
 
      /** \brief The camera pose */
      Eigen::Matrix4f camera_pose_;
      /** \brief The left bound of horizontal field of view */
      float fov_left_bound_;
      /** \brief The right bound of horizontal field of view */
      float fov_right_bound_;
      /** \brief The lower bound of vertical field of view */
      float fov_lower_bound_;
      /** \brief The upper bound of vertical field of view */
      float fov_upper_bound_;
      /** \brief Near plane distance */
      float np_dist_;
      /** \brief Far plane distance */
      float fp_dist_;
      /** \brief Region of interest x center position (normalized)*/
      float roi_x_;
      /** \brief Region of interest y center position (normalized)*/
      float roi_y_;
      /** \brief Region of interest width (normalized)*/
      float roi_w_;
      /** \brief Region of interest height (normalized)*/
      float roi_h_;
 
    public:
      PCL_MAKE_ALIGNED_OPERATOR_NEW
  };
}
 
#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/frustum_culling.hpp>
#endif