Point Cloud Library (PCL) 1.12.0
Loading...
Searching...
No Matches
frustum_culling.hpp
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2012-, Open Perception, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of the copyright holder(s) nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 */
37
38#ifndef PCL_FILTERS_IMPL_FRUSTUM_CULLING_HPP_
39#define PCL_FILTERS_IMPL_FRUSTUM_CULLING_HPP_
40
41#include <pcl/filters/frustum_culling.h>
42#include <vector>
43
44///////////////////////////////////////////////////////////////////////////////
45template <typename PointT> void
47{
48 Eigen::Vector4f pl_n; // near plane
49 Eigen::Vector4f pl_f; // far plane
50 Eigen::Vector4f pl_t; // top plane
51 Eigen::Vector4f pl_b; // bottom plane
52 Eigen::Vector4f pl_r; // right plane
53 Eigen::Vector4f pl_l; // left plane
54
55 Eigen::Vector3f view = camera_pose_.block<3, 1> (0, 0); // view vector for the camera - first column of the rotation matrix
56 Eigen::Vector3f up = camera_pose_.block<3, 1> (0, 1); // up vector for the camera - second column of the rotation matrix
57 Eigen::Vector3f right = camera_pose_.block<3, 1> (0, 2); // right vector for the camera - third column of the rotation matrix
58 Eigen::Vector3f T = camera_pose_.block<3, 1> (0, 3); // The (X, Y, Z) position of the camera w.r.t origin
59
60
61 float vfov_rad = float (vfov_ * M_PI / 180); // degrees to radians
62 float hfov_rad = float (hfov_ * M_PI / 180); // degrees to radians
63
64 float np_h = float (2 * tan (vfov_rad / 2) * np_dist_); // near plane height
65 float np_w = float (2 * tan (hfov_rad / 2) * np_dist_); // near plane width
66
67 float fp_h = float (2 * tan (vfov_rad / 2) * fp_dist_); // far plane height
68 float fp_w = float (2 * tan (hfov_rad / 2) * fp_dist_); // far plane width
69
70 Eigen::Vector3f fp_c (T + view * fp_dist_); // far plane center
71 Eigen::Vector3f fp_tl (fp_c + (up * fp_h / 2) - (right * fp_w / 2)); // Top left corner of the far plane
72 Eigen::Vector3f fp_tr (fp_c + (up * fp_h / 2) + (right * fp_w / 2)); // Top right corner of the far plane
73 Eigen::Vector3f fp_bl (fp_c - (up * fp_h / 2) - (right * fp_w / 2)); // Bottom left corner of the far plane
74 Eigen::Vector3f fp_br (fp_c - (up * fp_h / 2) + (right * fp_w / 2)); // Bottom right corner of the far plane
75
76 Eigen::Vector3f np_c (T + view * np_dist_); // near plane center
77 //Eigen::Vector3f np_tl = np_c + (up * np_h/2) - (right * np_w/2); // Top left corner of the near plane
78 Eigen::Vector3f np_tr (np_c + (up * np_h / 2) + (right * np_w / 2)); // Top right corner of the near plane
79 Eigen::Vector3f np_bl (np_c - (up * np_h / 2) - (right * np_w / 2)); // Bottom left corner of the near plane
80 Eigen::Vector3f np_br (np_c - (up * np_h / 2) + (right * np_w / 2)); // Bottom right corner of the near plane
81
82 pl_f.head<3> () = (fp_bl - fp_br).cross (fp_tr - fp_br); // Far plane equation - cross product of the
83 pl_f (3) = -fp_c.dot (pl_f.head<3> ()); // perpendicular edges of the far plane
84
85 pl_n.head<3> () = (np_tr - np_br).cross (np_bl - np_br); // Near plane equation - cross product of the
86 pl_n (3) = -np_c.dot (pl_n.head<3> ()); // perpendicular edges of the far plane
87
88 Eigen::Vector3f a (fp_bl - T); // Vector connecting the camera and far plane bottom left
89 Eigen::Vector3f b (fp_br - T); // Vector connecting the camera and far plane bottom right
90 Eigen::Vector3f c (fp_tr - T); // Vector connecting the camera and far plane top right
91 Eigen::Vector3f d (fp_tl - T); // Vector connecting the camera and far plane top left
92
93 // Frustum and the vectors a, b, c and d. T is the position of the camera
94 // _________
95 // /| . |
96 // d / | c . |
97 // / | __._____|
98 // / / . .
99 // a <---/-/ . .
100 // / / . . b
101 // / .
102 // .
103 // T
104 //
105
106 pl_r.head<3> () = b.cross (c);
107 pl_l.head<3> () = d.cross (a);
108 pl_t.head<3> () = c.cross (d);
109 pl_b.head<3> () = a.cross (b);
110
111 pl_r (3) = -T.dot (pl_r.head<3> ());
112 pl_l (3) = -T.dot (pl_l.head<3> ());
113 pl_t (3) = -T.dot (pl_t.head<3> ());
114 pl_b (3) = -T.dot (pl_b.head<3> ());
115
116 if (extract_removed_indices_)
117 {
118 removed_indices_->resize (indices_->size ());
119 }
120 indices.resize (indices_->size ());
121 std::size_t indices_ctr = 0;
122 std::size_t removed_ctr = 0;
123 for (std::size_t i = 0; i < indices_->size (); i++)
124 {
125 int idx = indices_->at (i);
126 Eigen::Vector4f pt ((*input_)[idx].x,
127 (*input_)[idx].y,
128 (*input_)[idx].z,
129 1.0f);
130 bool is_in_fov = (pt.dot (pl_l) <= 0) &&
131 (pt.dot (pl_r) <= 0) &&
132 (pt.dot (pl_t) <= 0) &&
133 (pt.dot (pl_b) <= 0) &&
134 (pt.dot (pl_f) <= 0) &&
135 (pt.dot (pl_n) <= 0);
136 if (is_in_fov ^ negative_)
137 {
138 indices[indices_ctr++] = idx;
139 }
140 else if (extract_removed_indices_)
141 {
142 (*removed_indices_)[removed_ctr++] = idx;
143 }
144 }
145 indices.resize (indices_ctr);
146 removed_indices_->resize (removed_ctr);
147}
148
149#define PCL_INSTANTIATE_FrustumCulling(T) template class PCL_EXPORTS pcl::FrustumCulling<T>;
150
151#endif
Iterator class for point clouds with or without given indices.
ConstCloudIterator(const PointCloud< PointT > &cloud)
void applyFilter(Indices &indices) override
Sample of point indices.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
#define M_PI
Definition pcl_macros.h:201