fix(image_projection_based_fusion): add outside of FOV checking

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Author: badai-nguyen

perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp

@@ -129,7 +129,7 @@ void RoiPointCloudFusionNode::fuse_on_single_image(
       *reinterpret_cast<const float *>(&transformed_cloud.data[offset + y_offset]);
     const float transformed_z =
       *reinterpret_cast<const float *>(&transformed_cloud.data[offset + z_offset]);
-    if (transformed_z <= 0.0) {
+    if (det2d.camera_projector_ptr->isOutsideHorizontalView(transformed_x, transformed_z)) {
       continue;
     }
 

perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp

@@ -122,8 +122,11 @@ void SegmentPointCloudFusionNode::fuse_on_single_image(
       *reinterpret_cast<float *>(&transformed_cloud.data[global_offset + y_offset]);
     float transformed_z =
       *reinterpret_cast<float *>(&transformed_cloud.data[global_offset + z_offset]);
-    // skip filtering pointcloud behind the camera or too far from camera
-    if (transformed_z <= 0.0 || transformed_z > filter_distance_threshold_) {
+    // skip pointcloud out of FOV
+    if (det2d.camera_projector_ptr->isOutsideHorizontalView(transformed_x, transformed_z)) {
+      continue;
+    }
+    if (transformed_z > filter_distance_threshold_) {
       continue;
     }