plugins/frustum_culling: Add frustum culling as a cloe plugin.

Author: mats4

conanfile.py

@@ -46,6 +46,7 @@ def cloe_requires(dep):
         cloe_requires("cloe-models")
         cloe_requires("cloe-plugin-basic")
         cloe_requires("cloe-plugin-clothoid-fit")
+        cloe_requires("cloe-plugin-frustum-culling")
         cloe_requires("cloe-plugin-gndtruth-extractor")
         cloe_requires("cloe-plugin-minimator")
         cloe_requires("cloe-plugin-mocks")

models/CMakeLists.txt

@@ -56,6 +56,7 @@ if(BUILD_TESTING)
         src/cloe/component/latlong_actuator_test.cpp
         src/cloe/component/utility/steering_utils_test.cpp
         src/cloe/utility/actuation_level_test.cpp
+        src/cloe/utility/frustum_culling_test.cpp
     )
     set_target_properties(test-models PROPERTIES
         CXX_STANDARD 17

models/include/cloe/utility/frustum_culling.hpp

@@ -0,0 +1,151 @@
+/*
+ * Copyright 2024 Robert Bosch GmbH
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+/**
+ * \file cloe/utility/frustum_culling.hpp
+ */
+
+#pragma once
+
+#include <cmath>  // for cos, sin
+
+#include <fmt/format.h>                // for format
+#include <Eigen/Geometry>              // for Vector3d
+#include <cloe/component/frustum.hpp>  // for Frustum
+
+namespace cloe::utility {
+
+struct Point {
+  double x{0.0};
+  double y{0.0};
+};
+
+// Rotates a given point from one coordinate system to another and returns rotated point
+Point rotate_point(const Point& point, double angle) {
+  return Point{std::cos(angle) * point.x - std::sin(angle) * point.y,
+               std::sin(angle) * point.x + std::cos(angle) * point.y};
+}
+
+// Calculates the corner points of a field of view.
+// p0 to p2 are the points counter clock-wise with the idstance clip_far to the root
+// An additional offset of the field of view to the original coordinate coordinate system is considered.
+//
+//   clip_far  p2               p1
+//                  \         /
+//            x      \       /
+//            ^       \     /
+//            |        \   /
+//      y <---|         \ /
+//                      p0
+// \param fov       Angle [radians] between p0-p1 and p0-p2
+// \param offset    Angle [radians] to shift the points p1 and p2 by
+// \param clip_far  Distance [meters] from p0 to p1 and from p0 to p2
+//
+// \return          Vector of points p0, p1, p2.
+std::vector<Point> calc_corner_points(double fov, double offset, double clip_far) {
+  std::vector<Point> ret_points;
+
+  // initialize points
+  Point p0{0.0, 0.0};
+  Point p1{p0};
+  Point p2{p0};
+
+  ret_points.push_back(p0);
+
+  p1.x = clip_far * std::cos(-fov / 2.0);
+  p2.x = clip_far * std::cos(fov / 2.0);
+
+  p1.y = clip_far * std::sin(-fov / 2.0);
+  p2.y = clip_far * std::sin(fov / 2.0);
+
+  p1 = rotate_point(p1, offset);
+  p2 = rotate_point(p2, offset);
+
+  ret_points.push_back(p1);
+  ret_points.push_back(p2);
+
+  return ret_points;
+}
+
+// Returns true if a given Point c is "on the left" of the line of two points a and b.
+// "On the left" means the angle from the line a-b to the line a-c is in the range (0, M_PI)
+bool is_left(Point a, Point b, Point c) {
+  return (b.x - a.x) * (c.y - a.y) - (b.y - a.y) * (c.x - a.x) > 0;
+}
+
+bool is_inside_fov(double fov, bool is_left_0_p1, bool is_left_0_p2, std::string error_message) {
+  bool is_inside_fov = false;
+  if (fov >= M_PI && fov <= 2 * M_PI) {
+    // if the opening angle is between PI and 2 PI (180 and 360 degree)
+    // then everything is inside the fov that is _not_ right of p1 AND is _not_ left of p2
+    is_inside_fov = !(!is_left_0_p1 && is_left_0_p2);
+  } else if (fov > 0.0 && fov < M_PI) {
+    // if the opening angle is greater 0 and smaller than M_PI
+    is_inside_fov = is_left_0_p1 && !is_left_0_p2;
+  } else {
+    throw std::runtime_error(error_message);
+  }
+  return is_inside_fov;
+}
+
+bool is_point_inside_frustum(const cloe::Frustum& frustum, const Eigen::Vector3d& point) {
+  bool ret_val{false};
+
+  // calculate points in "frustum" sensor coordinate system, which starts at the frustum root
+  // and has x in viewing direction, and y to the left and z in the up direction.
+  auto corner_points_x_y_plane =
+      calc_corner_points(frustum.fov_h, frustum.offset_h, frustum.clip_far);
+  auto corner_points_x_z_plane =
+      calc_corner_points(frustum.fov_v, frustum.offset_v, frustum.clip_far);
+
+  // calculate for xy plane
+  bool is_left_0_p1 =
+      is_left(corner_points_x_y_plane[0], corner_points_x_y_plane[1], Point{point.x(), point.y()});
+  bool is_left_0_p2 =
+      is_left(corner_points_x_y_plane[0], corner_points_x_y_plane[2], Point{point.x(), point.y()});
+
+  bool is_inside_fov_xy =
+      is_inside_fov(frustum.fov_h, is_left_0_p1, is_left_0_p2,
+                    fmt::format("The field of view in horizontal direction of your function is not "
+                                "in the expected range of (0, 2*PI]. The value we got was {}",
+                                frustum.fov_h));
+
+  // now calculate for xz plane
+  is_left_0_p1 =
+      is_left(corner_points_x_z_plane[0], corner_points_x_z_plane[1], Point{point.z(), point.x()});
+  is_left_0_p2 =
+      is_left(corner_points_x_z_plane[0], corner_points_x_z_plane[2], Point{point.z(), point.x()});
+
+  bool is_inside_fov_xz =
+      is_inside_fov(frustum.fov_v, is_left_0_p1, is_left_0_p2,
+                    fmt::format("The field of view in vertical direction of your function is not "
+                                "in the expected range of (0, 2*PI]. The value we got was {}",
+                                frustum.fov_v));
+
+  // if we are inside the fovs, we still need to check if the distance is within clip_near and clip_far
+  if (is_inside_fov_xy && is_inside_fov_xz) {
+    double distance =
+        std::sqrt(std::pow(point.x(), 2) + std::pow(point.y(), 2) + std::pow(point.z(), 2));
+
+    if (distance >= frustum.clip_near && distance < frustum.clip_far) {
+      ret_val = true;
+    }
+  }
+  return ret_val;
+}
+
+}  // namespace cloe::utility