#include "VisibilityCheck.h"
#include <algorithm>
#include <cmath>
#include <limits>

Include dependency graph for VisibilityCheck.cpp:

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.

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.

Namespaces

Functions