three_dimensional_lidar_frustum.cpp

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#include <spatio_temporal_voxel_layer/frustum_models/three_dimensional_lidar_frustum.hpp>

namespace geometry
{

/*****************************************************************************/
ThreeDimensionalLidarFrustum::ThreeDimensionalLidarFrustum(const double& vFOV,
                                                        const double& vFOVPadding,
                                                        const double& hFOV,
                                                        const double& min_dist,
                                                        const double& max_dist)
                                                        : _vFOV(vFOV),
                                                          _vFOVPadding(vFOVPadding),  
                                                          _hFOV(hFOV),
                                                          _min_d(min_dist),
                                                          _max_d(max_dist)
/*****************************************************************************/
{
  _hFOVhalf = _hFOV / 2.0;
  _tan_vFOVhalf = tan(_vFOV / 2.0);
  _tan_vFOVhalf_squared = _tan_vFOVhalf * _tan_vFOVhalf;
  _min_d_squared = _min_d * _min_d;
  _max_d_squared = _max_d * _max_d;
  _full_hFOV = false;
  if (_hFOV > 6.27)
  {
    _full_hFOV = true;
  }
}

/*****************************************************************************/
ThreeDimensionalLidarFrustum::~ThreeDimensionalLidarFrustum(void)
/*****************************************************************************/
{
}

/*****************************************************************************/
void ThreeDimensionalLidarFrustum::TransformModel(void)
/*****************************************************************************/
{
  _orientation_conjugate = _orientation.conjugate();
  _valid_frustum = true;
}

/*****************************************************************************/
bool ThreeDimensionalLidarFrustum::IsInside(const openvdb::Vec3d &pt)
/*****************************************************************************/
{

  Eigen::Vector3d point_in_global_frame(pt[0], pt[1], pt[2]);
  Eigen::Vector3d transformed_pt =
      _orientation_conjugate * (point_in_global_frame - _position);

  const double radial_distance_squared = \
                                   (transformed_pt[0] * transformed_pt[0]) + \
                                   (transformed_pt[1] * transformed_pt[1]);

  // Check if inside frustum valid range
  if (radial_distance_squared > _max_d_squared || 
      radial_distance_squared < _min_d_squared)
  {
    return false;
  }

  // // Check if inside frustum valid vFOV
  const double v_padded = fabs(transformed_pt[2]) + _vFOVPadding;
  if (( v_padded * v_padded / radial_distance_squared) > _tan_vFOVhalf_squared)
  {
    return false;
  }

  // Check if inside frustum valid hFOV, unless hFOV is full-circle (360 degree)
  if (!_full_hFOV)
  {
    if (transformed_pt[0] > 0)
    {
      if (fabs(atan(transformed_pt[1] / transformed_pt[0])) > _hFOVhalf)
      {
        return false;
      }
    }
    else if ( \
      fabs(atan(transformed_pt[0] / transformed_pt[1])) + M_PI/2 > _hFOVhalf)
    {
      return false;
    }
  }

  return true;
}

/*****************************************************************************/
void ThreeDimensionalLidarFrustum::SetPosition(const \
                                                  geometry_msgs::Point& origin)
/*****************************************************************************/
{
  _position = Eigen::Vector3d(origin.x, origin.y, origin.z);
}

/*****************************************************************************/
void ThreeDimensionalLidarFrustum::SetOrientation(const \
                                               geometry_msgs::Quaternion& quat)
/*****************************************************************************/
{
  _orientation = Eigen::Quaterniond(quat.w, quat.x, quat.y, quat.z);
}

/*****************************************************************************/
double ThreeDimensionalLidarFrustum::Dot(const VectorWithPt3D &plane_pt,
                                         const openvdb::Vec3d &query_pt) const
/*****************************************************************************/
{
  return plane_pt.x*query_pt[0]+plane_pt.y*query_pt[1]+plane_pt.z*query_pt[2];
}

/*****************************************************************************/
double ThreeDimensionalLidarFrustum::Dot(const VectorWithPt3D &plane_pt,
                                         const Eigen::Vector3d &query_pt) const
/*****************************************************************************/
{
  return plane_pt.x*query_pt[0]+plane_pt.y*query_pt[1]+plane_pt.z*query_pt[2];
}

} // namespace geometry