frustum_culling.hpp
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#ifndef PCL_FILTERS_IMPL_FRUSTUM_CULLING_HPP_
#define PCL_FILTERS_IMPL_FRUSTUM_CULLING_HPP_
#include <pcl/filters/frustum_culling.h>
#include <vector>
///////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::FrustumCulling<PointT>::applyFilter (Indices &indices)
{
Eigen::Vector4f pl_n; // near plane
Eigen::Vector4f pl_f; // far plane
Eigen::Vector4f pl_t; // top plane
Eigen::Vector4f pl_b; // bottom plane
Eigen::Vector4f pl_r; // right plane
Eigen::Vector4f pl_l; // left plane
Eigen::Vector3f view = camera_pose_.block<3, 1> (0, 0); // view vector for the camera - first column of the rotation matrix
Eigen::Vector3f up = camera_pose_.block<3, 1> (0, 1); // up vector for the camera - second column of the rotation matrix
Eigen::Vector3f right = camera_pose_.block<3, 1> (0, 2); // right vector for the camera - third column of the rotation matrix
Eigen::Vector3f T = camera_pose_.block<3, 1> (0, 3); // The (X, Y, Z) position of the camera w.r.t origin
float vfov_rad = float (vfov_ * M_PI / 180); // degrees to radians
float hfov_rad = float (hfov_ * M_PI / 180); // degrees to radians
float np_h = float (2 * tan (vfov_rad / 2) * np_dist_); // near plane height
float np_w = float (2 * tan (hfov_rad / 2) * np_dist_); // near plane width
float fp_h = float (2 * tan (vfov_rad / 2) * fp_dist_); // far plane height
float fp_w = float (2 * tan (hfov_rad / 2) * fp_dist_); // far plane width
Eigen::Vector3f fp_c (T + view * fp_dist_); // far plane center
Eigen::Vector3f fp_tl (fp_c + (up * fp_h / 2) - (right * fp_w / 2)); // Top left corner of the far plane
Eigen::Vector3f fp_tr (fp_c + (up * fp_h / 2) + (right * fp_w / 2)); // Top right corner of the far plane
Eigen::Vector3f fp_bl (fp_c - (up * fp_h / 2) - (right * fp_w / 2)); // Bottom left corner of the far plane
Eigen::Vector3f fp_br (fp_c - (up * fp_h / 2) + (right * fp_w / 2)); // Bottom right corner of the far plane
Eigen::Vector3f np_c (T + view * np_dist_); // near plane center
//Eigen::Vector3f np_tl = np_c + (up * np_h/2) - (right * np_w/2); // Top left corner of the near plane
Eigen::Vector3f np_tr (np_c + (up * np_h / 2) + (right * np_w / 2)); // Top right corner of the near plane
Eigen::Vector3f np_bl (np_c - (up * np_h / 2) - (right * np_w / 2)); // Bottom left corner of the near plane
Eigen::Vector3f np_br (np_c - (up * np_h / 2) + (right * np_w / 2)); // Bottom right corner of the near plane
pl_f.head<3> () = (fp_bl - fp_br).cross (fp_tr - fp_br); // Far plane equation - cross product of the
pl_f (3) = -fp_c.dot (pl_f.head<3> ()); // perpendicular edges of the far plane
pl_n.head<3> () = (np_tr - np_br).cross (np_bl - np_br); // Near plane equation - cross product of the
pl_n (3) = -np_c.dot (pl_n.head<3> ()); // perpendicular edges of the far plane
Eigen::Vector3f a (fp_bl - T); // Vector connecting the camera and far plane bottom left
Eigen::Vector3f b (fp_br - T); // Vector connecting the camera and far plane bottom right
Eigen::Vector3f c (fp_tr - T); // Vector connecting the camera and far plane top right
Eigen::Vector3f d (fp_tl - T); // Vector connecting the camera and far plane top left
// Frustum and the vectors a, b, c and d. T is the position of the camera
// _________
// /| . |
// d / | c . |
// / | __._____|
// / / . .
// a <---/-/ . .
// / / . . b
// / .
// .
// T
//
pl_r.head<3> () = b.cross (c);
pl_l.head<3> () = d.cross (a);
pl_t.head<3> () = c.cross (d);
pl_b.head<3> () = a.cross (b);
pl_r (3) = -T.dot (pl_r.head<3> ());
pl_l (3) = -T.dot (pl_l.head<3> ());
pl_t (3) = -T.dot (pl_t.head<3> ());
pl_b (3) = -T.dot (pl_b.head<3> ());
if (extract_removed_indices_)
{
removed_indices_->resize (indices_->size ());
}
indices.resize (indices_->size ());
std::size_t indices_ctr = 0;
std::size_t removed_ctr = 0;
for (std::size_t i = 0; i < indices_->size (); i++)
{
int idx = indices_->at (i);
Eigen::Vector4f pt ((*input_)[idx].x,
(*input_)[idx].y,
(*input_)[idx].z,
1.0f);
bool is_in_fov = (pt.dot (pl_l) <= 0) &&
(pt.dot (pl_r) <= 0) &&
(pt.dot (pl_t) <= 0) &&
(pt.dot (pl_b) <= 0) &&
(pt.dot (pl_f) <= 0) &&
(pt.dot (pl_n) <= 0);
if (is_in_fov ^ negative_)
{
indices[indices_ctr++] = idx;
}
else if (extract_removed_indices_)
{
(*removed_indices_)[removed_ctr++] = idx;
}
}
indices.resize (indices_ctr);
removed_indices_->resize (removed_ctr);
}
#define PCL_INSTANTIATE_FrustumCulling(T) template class PCL_EXPORTS pcl::FrustumCulling<T>;
#endif
pcl::FrustumCulling::applyFilter
void applyFilter(Indices &indices) override
Sample of point indices.
Definition: frustum_culling.hpp:46
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
M_PI
#define M_PI
Definition: pcl_macros.h:201