Program Listing for File depth_camera_frustum.hpp

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 * Author: Steve Macenski (steven.macenski@simberobotics.com)
 * Purpose: Structure for handling camera FOVs to construct frustums
 *          and associated methods
 *********************************************************************/

#ifndef SPATIO_TEMPORAL_VOXEL_LAYER__FRUSTUM_MODELS__DEPTH_CAMERA_FRUSTUM_HPP_
#define SPATIO_TEMPORAL_VOXEL_LAYER__FRUSTUM_MODELS__DEPTH_CAMERA_FRUSTUM_HPP_

#define VISUALIZE_FRUSTUM 0

// STL
#include <vector>
// STVL
#include "spatio_temporal_voxel_layer/frustum_models/frustum.hpp"

namespace geometry
{

// A class to model a depth sensor frustum in world space
class DepthCameraFrustum : public Frustum
{
public:
  DepthCameraFrustum(
    const double & vFOV, const double & hFOV,
    const double & min_dist, const double & max_dist);
  virtual ~DepthCameraFrustum(void);

  // transform plane normals by depth camera pose
  virtual void TransformModel(void);

  // determine if a point is inside of the transformed frustum
  virtual bool IsInside(const openvdb::Vec3d & pt);

  // set pose of depth camera in global space
  virtual void SetPosition(const geometry_msgs::msg::Point & origin);
  virtual void SetOrientation(const geometry_msgs::msg::Quaternion & quat);

private:
  // utils to find useful frustum metadata
  void ComputePlaneNormals(void);
  double Dot(const VectorWithPt3D &, const openvdb::Vec3d &) const;
  double Dot(const VectorWithPt3D &, const Eigen::Vector3d &) const;

  double _vFOV, _hFOV, _min_d, _max_d;
  std::vector<VectorWithPt3D> _plane_normals;
  Eigen::Vector3d _position;
  Eigen::Quaterniond _orientation;
  bool _valid_frustum;

  #if VISUALIZE_FRUSTUM
  std::vector<Eigen::Vector3d> _frustum_pts;
  rclcpp::Node::SharedPtr _node;
  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr _frustum_pub;
  #endif
};

}  // namespace geometry

#endif  // SPATIO_TEMPORAL_VOXEL_LAYER__FRUSTUM_MODELS__DEPTH_CAMERA_FRUSTUM_HPP_