Program Listing for File frustum.hpp

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 * Author: Steve Macenski (steven.macenski@simberobotics.com)
 * Purpose: Abstract class for a frustum model implementation
 *********************************************************************/

#ifndef SPATIO_TEMPORAL_VOXEL_LAYER__FRUSTUM_MODELS__FRUSTUM_HPP_
#define SPATIO_TEMPORAL_VOXEL_LAYER__FRUSTUM_MODELS__FRUSTUM_HPP_

// STL
#include <vector>
#include <cassert>
// Eigen
#include "Eigen/Geometry"
// OpenVDB
#include "openvdb/openvdb.h"
// msgs
#include "geometry_msgs/msg/point.hpp"
#include "visualization_msgs/msg/marker.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "geometry_msgs/msg/point_stamped.hpp"
#include "geometry_msgs/msg/pose.hpp"
// ROS
#include "rclcpp/rclcpp.hpp"

namespace geometry
{

// A structure for maintaining vectors and points in world spaces
struct VectorWithPt3D
{
  VectorWithPt3D(
    const double & x_, const double & y_,
    const double & z_, const Eigen::Vector3d & p0)
  : x(x_), y(y_), z(z_), initial_point(p0)
  {
  }

  VectorWithPt3D(void)
  : x(0.), y(0.), z(0.)
  {
  }

  inline VectorWithPt3D operator*(double a)
  {
    return VectorWithPt3D(a * x, a * y, a * z, initial_point);
  }

  // given a transform, transform its information
  void TransformFrames(const Eigen::Affine3d & homogeneous_transform)
  {
    Eigen::Vector3d vec_t = homogeneous_transform.rotation() * Eigen::Vector3d(x, y, z);
    vec_t.normalize();
    x = vec_t[0]; y = vec_t[1]; z = vec_t[2];
    initial_point = homogeneous_transform * initial_point;
  }

  double x, y, z;
  Eigen::Vector3d initial_point;
};

// A class to model a depth sensor frustum in world space
class Frustum
{
public:
  Frustum() {}
  virtual ~Frustum(void) {}

  // determine if a point is inside of the transformed frustum
  virtual bool IsInside(const openvdb::Vec3d & pt) = 0;

  // set pose of depth camera in global space
  virtual void SetPosition(const geometry_msgs::msg::Point & origin) = 0;
  virtual void SetOrientation(const geometry_msgs::msg::Quaternion & quat) = 0;

  // transform model to the current coordinates
  virtual void TransformModel(void) = 0;

private:
  Eigen::Vector3d _position;
  Eigen::Quaterniond _orientation;
  bool _valid_frustum;
};

}  // namespace geometry

#endif  // SPATIO_TEMPORAL_VOXEL_LAYER__FRUSTUM_MODELS__FRUSTUM_HPP_