Frustum Struct Reference

A symmetric view frustum. More...

#include <ArmarXSimulation/components/FakeObjectDetector/VisibilityCheck.h>

Public Member Functions
bool	contains (const Eigen::Vector3f &globalPoint) const
	Whether a global point lies inside the frustum.
Eigen::Vector3f	position () const
Eigen::Vector3f	toViewFrame (const Eigen::Vector3f &globalPoint) const
	Express a global point in the camera's viewing frame.

Public Attributes
Eigen::Matrix4f	cameraPose = Eigen::Matrix4f::Identity()
	Camera -> global.
Eigen::Vector3f	forwardLocal = Eigen::Vector3f::UnitZ()
	Viewing axis in the camera's local frame.
float	horizontalFov = 1.0F
	Full opening angles [rad].
float	maxDistance = 1e6F
float	minDistance = 0.0F
	Detection range along the viewing axis [mm].
Eigen::Vector3f	upLocal = -Eigen::Vector3f::UnitY()
	Up axis in the camera's local frame.
float	verticalFov = 1.0F

Detailed Description

A symmetric view frustum.

The camera looks along forwardLocal in its own frame. ArmarX/Simox render cameras (the *Sim robot nodes) look along +Z with +X pointing up, see VirtualRobot::CoinVisualizationFactory; the defaults reflect that.

Member Function Documentation

contains()

bool contains

(

const Eigen::Vector3f &

globalPoint

)

const

Whether a global point lies inside the frustum.

position()

Eigen::Vector3f position

(

)

const

toViewFrame()

Eigen::Vector3f toViewFrame

(

const Eigen::Vector3f &

globalPoint

)

const

Express a global point in the camera's viewing frame.

Returns

(depth along forward, lateral along right, lateral along up).

Member Data Documentation

cameraPose

Eigen::Matrix4f cameraPose = Eigen::Matrix4f::Identity()

Camera -> global.

forwardLocal

Eigen::Vector3f forwardLocal = Eigen::Vector3f::UnitZ()

Viewing axis in the camera's local frame.

horizontalFov

float horizontalFov = 1.0F

Full opening angles [rad].

maxDistance

float maxDistance = 1e6F

minDistance

float minDistance = 0.0F

Detection range along the viewing axis [mm].

upLocal

Eigen::Vector3f upLocal = -Eigen::Vector3f::UnitY()

Up axis in the camera's local frame.

verticalFov

float verticalFov = 1.0F

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The documentation for this struct was generated from the following files:

• ArmarXSimulation/components/FakeObjectDetector/VisibilityCheck.h
• ArmarXSimulation/components/FakeObjectDetector/VisibilityCheck.cpp