VisibilityCheck.h File Reference

#include <array>
#include <optional>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Geometry>

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Classes
struct	Box
	An oriented bounding box in the global frame. More...
struct	Frustum
	A symmetric view frustum. More...

Namespaces
namespace	armarx
	This file offers overloads of toIce() and fromIce() functions for STL container types.
namespace	armarx::fake_object_detector
	Geometric primitives for the fake object detector.
namespace	ArmarXSimulation
	This file is part of ArmarX.

Enumerations
enum class	DetectionMode { Always , FieldOfView , LineOfSight }
	How strictly an object must be perceivable before it is reported. More...

Functions
Eigen::Vector3f	faceCenter (const Box &box, int faceIndex)
	Centre of faceIndex in global coordinates.
Eigen::Vector3f	faceNormal (const Box &box, int faceIndex)
	Outward unit normal of faceIndex in global coordinates.
int	frontFaceIndex (const Frustum &frustum, const Box &box)
	The face of box that points most directly at the camera - the "front facing side" of the bounding box.
std::optional< float >	intersectRayBox (const Eigen::Vector3f &origin, const Eigen::Vector3f &unitDirection, const Box &box)
	Intersect a ray with an oriented box using the slab method.
bool	isInFieldOfView (const Frustum &frustum, const Box &box, bool requireFullyInside)
	Whether box is inside the camera frustum.
std::vector< Eigen::Vector3f >	sampleFace (const Box &box, int faceIndex, int gridN)
	A gridN x gridN grid of sample points spread over faceIndex, in global coordinates.
float	visibleFraction (const Frustum &frustum, const Box &target, const std::vector< Box > &occluders, int gridN, float epsilon)
	The fraction of sample points on the front face of target that the camera can see.