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_