field_of_view.h

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#ifndef FIELD_OF_VIEW_H__
#define FIELD_OF_VIEW_H__

//##################
//#### includes ####

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <iostream>

namespace cob_3d_mapping
{

  /*
   * \brief Class to compute the field of view of a camera
   */
  class FieldOfView
  {
  public:
    FieldOfView () :
        p_0_cam_ (0, 0, 0)
    {
      computeFieldOfView ();
    }

    ~FieldOfView ()
    {
    }

    void
    setSensorFoV_hor (double val)
    {
      sensor_fov_hor_ = val * M_PI / 180;
    }

    void
    setSensorFoV_ver (double val)
    {
      sensor_fov_ver_ = val * M_PI / 180;
    }

    void
    setSensorMaxRange (double val)
    {
      sensor_max_range_ = val;
    }

    void
    getFOV (Eigen::Vector3d& p_0, Eigen::Vector3d& p_1, Eigen::Vector3d& p_2, Eigen::Vector3d& p_3,
            Eigen::Vector3d& p_4)
    {
      p_0 = p_0_;
      p_1 = p_1_;
      p_2 = p_2_;
      p_3 = p_3_;
      p_4 = p_4_;
    }

    void
    computeFieldOfView ();

    void
    transformFOV (Eigen::Affine3d& t)
    {
      p_0_ = t * p_0_cam_;
      p_1_ = t * p_1_cam_;
      p_2_ = t * p_2_cam_;
      p_3_ = t * p_3_cam_;
      p_4_ = t * p_4_cam_;
    }

  protected:
    double sensor_fov_hor_; 
    double sensor_fov_ver_; 
    double sensor_max_range_; 

    Eigen::Vector3d p_0_; 
    Eigen::Vector3d p_1_; 
    Eigen::Vector3d p_2_; 
    Eigen::Vector3d p_3_; 
    Eigen::Vector3d p_4_; 

    Eigen::Vector3d p_0_cam_; 
    Eigen::Vector3d p_1_cam_; 
    Eigen::Vector3d p_2_cam_; 
    Eigen::Vector3d p_3_cam_; 
    Eigen::Vector3d p_4_cam_; 

  };

} //namespace

#endif