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 DEPTH_FRUSTUM_H_
#define DEPTH_FRUSTUM_H_
 
// STVL
#include <spatio_temporal_voxel_layer/frustum_models/frustum.hpp>
 
namespace geometry
{
 
// visualize the frustum should someone other than me care
#define VISUALIZE_FRUSTUM 0
 
// 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::Point& origin);
  virtual void SetOrientation(const geometry_msgs::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;
    ros::Publisher _frustumPub;
  #endif
};
 
} // end namespace
 
#endif