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.
Definition at line 77 of file VisibilityCheck.h.
Member Function Documentation
◆ contains()
| bool contains | ( | const Eigen::Vector3f & | globalPoint | ) | const |
Whether a global point lies inside the frustum.
Definition at line 102 of file VisibilityCheck.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ 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).
Definition at line 88 of file VisibilityCheck.cpp.
Here is the call graph for this function: Here is the caller graph for this function:Member Data Documentation
◆ cameraPose
| Eigen::Matrix4f cameraPose = Eigen::Matrix4f::Identity() |
Camera -> global.
Definition at line 80 of file VisibilityCheck.h.
◆ forwardLocal
| Eigen::Vector3f forwardLocal = Eigen::Vector3f::UnitZ() |
Viewing axis in the camera's local frame.
Definition at line 91 of file VisibilityCheck.h.
◆ horizontalFov
| float horizontalFov = 1.0F |
Full opening angles [rad].
Definition at line 83 of file VisibilityCheck.h.
◆ maxDistance
| float maxDistance = 1e6F |
Definition at line 88 of file VisibilityCheck.h.
◆ minDistance
| float minDistance = 0.0F |
Detection range along the viewing axis [mm].
Definition at line 87 of file VisibilityCheck.h.
◆ upLocal
| Eigen::Vector3f upLocal = -Eigen::Vector3f::UnitY() |
Up axis in the camera's local frame.
Definition at line 93 of file VisibilityCheck.h.
◆ verticalFov
| float verticalFov = 1.0F |
Definition at line 84 of file VisibilityCheck.h.
The documentation for this struct was generated from the following files:
- ArmarXSimulation/components/FakeObjectDetector/VisibilityCheck.h
- ArmarXSimulation/components/FakeObjectDetector/VisibilityCheck.cpp
