#include <pinhole_camera.hpp>

Inheritance diagram for se::PinholeCamera:

Collaboration diagram for se::PinholeCamera:

Classes
struct	Config

struct	FrustumNormal
	Linear indices to se::PinholeCamera::frustum_normals_S and number of frustum normals. More...

struct	FrustumVertex
	Linear indices to se::PinholeCamera::frustum_vertices_S and number of frustum vertices. More...

Public Member Functions
	PinholeCamera (const Config &config)

	PinholeCamera (const Config &config, const float downsampling_factor)

	PinholeCamera (const PinholeCamera &pinhole_camera, const float downsampling_factor)

int	computeIntegrationScaleImpl (const Eigen::Vector3f &block_centre, const float map_res, const int last_scale, const int min_scale, const int max_block_scale) const

float	nearDistImpl (const Eigen::Vector3f &ray_S) const

float	farDistImpl (const Eigen::Vector3f &ray_S) const

float	measurementFromPointImpl (const Eigen::Vector3f &point_S) const

bool	pointInFrustumImpl (const Eigen::Vector3f &point_S) const

bool	pointInFrustumInfImpl (const Eigen::Vector3f &point_S) const

bool	sphereInFrustumImpl (const Eigen::Vector3f &centre_S, const float radius) const

bool	sphereInFrustumInfImpl (const Eigen::Vector3f &centre_S, const float radius) const

Public Member Functions inherited from se::SensorBase< PinholeCamera >
	SensorBase (const ConfigT &c)

	SensorBase (const PinholeCamera &d)

int	computeIntegrationScale (const Eigen::Vector3f &block_centre_S, const float map_res, const int last_scale, const int min_scale, const int max_block_scale) const
	Return the integration scale for an se::Block at `block_centre_S`.

float	nearDist (const Eigen::Vector3f &ray_S) const
	Return the minimum distance along `ray_S`, expressed in the sensor frame, that can be measured.

float	farDist (const Eigen::Vector3f &ray_S) const
	Return the maximum distance along `ray_S`, expressed in the sensor frame, that can be measured.

float	measurementFromPoint (const Eigen::Vector3f &point_S) const
	Return the depth measurement that would result form `point_S`, expressed in the sensor frame, being measured.

bool	pointInFrustum (const Eigen::Vector3f &point_S) const
	Return whether `point_S`, expressed in the sensor frame, is inside the sensor frustum.

bool	pointInFrustumInf (const Eigen::Vector3f &point_S) const
	Return whether `point_S`, expressed in the sensor frame, is inside the sensor frustum but without considering the far plane.

bool	sphereInFrustum (const Eigen::Vector3f &centre_S, const float radius) const
	Return whether a sphere with `centre_S` and `radius`, expressed in the sensor frame, is at least partially inside the sensor frustum.

bool	sphereInFrustumInf (const Eigen::Vector3f &centre_S, const float radius) const
	Return whether a sphere with `centre_S` and `radius`, expressed in the sensor frame, is at least partially inside the sensor frustum but without considering the far plane.

Static Public Member Functions
static std::string	typeImpl ()

static PinholeCamera	testInstance ()
	Return an se::PinholeCamera instance for use in unit tests requiring one.

Static Public Member Functions inherited from se::SensorBase< PinholeCamera >
static std::string	type ()
	Return the underlying sensor type as a string.

Public Attributes
srl::projection::PinholeCamera< srl::projection::NoDistortion >	model

float	scaled_pixel

float	horizontal_fov
	The horizontal field of view in radians.

float	vertical_fov
	The vertical field of view in radians.

Eigen::Matrix< float, 3, FrustumVertex::Num >	frustum_vertices_S
	The vertices of the camera frustum expressed in the camera frame S.

Eigen::Matrix< float, 4, FrustumNormal::Num >	frustum_normals_S
	The inwards-pointing normals of the camera frustum faces expressed in the camera frame S.

Public Attributes inherited from se::SensorBase< PinholeCamera >
bool	left_hand_frame

float	near_plane

float	far_plane

Eigen::Isometry3f	T_BS

std::vector< float >	pixel_voxel_ratio_per_scale

Constructor & Destructor Documentation

◆ PinholeCamera() [1/3]

se::PinholeCamera::PinholeCamera ( const Config & config )

◆ PinholeCamera() [2/3]

se::PinholeCamera::PinholeCamera	(	const Config &	config,
		const float	downsampling_factor
	)

◆ PinholeCamera() [3/3]

se::PinholeCamera::PinholeCamera	(	const PinholeCamera &	pinhole_camera,
		const float	downsampling_factor
	)

Member Function Documentation

◆ computeIntegrationScaleImpl()

int se::PinholeCamera::computeIntegrationScaleImpl	(	const Eigen::Vector3f &	block_centre,
		const float	map_res,
		const int	last_scale,
		const int	min_scale,
		const int	max_block_scale
	)		const

◆ nearDistImpl()

float se::PinholeCamera::nearDistImpl ( const Eigen::Vector3f & ray_S ) const

◆ farDistImpl()

float se::PinholeCamera::farDistImpl ( const Eigen::Vector3f & ray_S ) const

◆ measurementFromPointImpl()

float se::PinholeCamera::measurementFromPointImpl ( const Eigen::Vector3f & point_S ) const

◆ pointInFrustumImpl()

bool se::PinholeCamera::pointInFrustumImpl ( const Eigen::Vector3f & point_S ) const

◆ pointInFrustumInfImpl()

bool se::PinholeCamera::pointInFrustumInfImpl ( const Eigen::Vector3f & point_S ) const

◆ sphereInFrustumImpl()

bool se::PinholeCamera::sphereInFrustumImpl	(	const Eigen::Vector3f &	centre_S,
		const float	radius
	)		const

◆ sphereInFrustumInfImpl()

bool se::PinholeCamera::sphereInFrustumInfImpl	(	const Eigen::Vector3f &	centre_S,
		const float	radius
	)		const

◆ typeImpl()

static std::string se::PinholeCamera::typeImpl ( )

static

◆ testInstance()

static PinholeCamera se::PinholeCamera::testInstance ( )

static

Return an se::PinholeCamera instance for use in unit tests requiring one.

Member Data Documentation

◆ model

srl::projection::PinholeCamera<srl::projection::NoDistortion> se::PinholeCamera::model

◆ scaled_pixel

float se::PinholeCamera::scaled_pixel

◆ horizontal_fov

float se::PinholeCamera::horizontal_fov

The horizontal field of view in radians.

◆ vertical_fov

float se::PinholeCamera::vertical_fov

The vertical field of view in radians.

◆ frustum_vertices_S

Eigen::Matrix<float, 3, FrustumVertex::Num> se::PinholeCamera::frustum_vertices_S

The vertices of the camera frustum expressed in the camera frame S.

◆ frustum_normals_S

Eigen::Matrix<float, 4, FrustumNormal::Num> se::PinholeCamera::frustum_normals_S

The inwards-pointing normals of the camera frustum faces expressed in the camera frame S.

The documentation for this class was generated from the following file:

include/se/sensor/pinhole_camera.hpp

Classes

Public Member Functions

Static Public Member Functions

Public Attributes