se::SensorBase< DerivedT > Class Template Reference

Base class for all sensor models used for integrating measurements. More...

#include <sensor.hpp>

Classes
struct	Config
	Configuration parameters common for all sensor models. More...

Public Member Functions
template<typename ConfigT >
	SensorBase (const ConfigT &c)
	SensorBase (const DerivedT &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	type ()
	Return the underlying sensor type as a string.

Public Attributes
bool	left_hand_frame
float	near_plane
float	far_plane
Eigen::Isometry3f	T_BS
std::vector< float >	pixel_voxel_ratio_per_scale

Detailed Description

template<typename DerivedT>
class se::SensorBase< DerivedT >

Base class for all sensor models used for integrating measurements.

It uses CRTP for compile-time polymorphism: https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern

Constructor & Destructor Documentation

SensorBase() [1/2]

template<typename DerivedT >

template<typename ConfigT >

se::SensorBase< DerivedT >::SensorBase

(

const ConfigT &

c

)

SensorBase() [2/2]

template<typename DerivedT >

se::SensorBase< DerivedT >::SensorBase

(

const DerivedT &

d

)

Member Function Documentation

computeIntegrationScale()

template<typename DerivedT >

int se::SensorBase< DerivedT >::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.

The scale depends on the back-projected pixel size in voxel space and the values in se::SensorBase::Config::pixel_voxel_ratio_per_scale.

Parameters

[in]	block_centre_S	The coordinates of the block centre expressed in the sensor frame.
[in]	map_res	The resolution of the map in metres.
[in]	last_scale	The block's current scale.
[in]	min_scale	The minimum scale at which this block has been updated. It should be -1 if the block hasn't been updated yet.
[in]	max_block_scale	The maximum possible scale for an se::Block.

Returns

The scale the block should be updated at.

nearDist()

template<typename DerivedT >

float se::SensorBase< DerivedT >::nearDist

(

const Eigen::Vector3f &

ray_S

)

const

Return the minimum distance along ray_S, expressed in the sensor frame, that can be measured.

Note

This may differ from se::SensorBase::Config::near_plane depending on the underlying projection model.

farDist()

template<typename DerivedT >

float se::SensorBase< DerivedT >::farDist

(

const Eigen::Vector3f &

ray_S

)

const

Return the maximum distance along ray_S, expressed in the sensor frame, that can be measured.

Note

This may differ from se::SensorBase::Config::far_plane depending on the underlying projection model.

measurementFromPoint()

template<typename DerivedT >

float se::SensorBase< DerivedT >::measurementFromPoint

(

const Eigen::Vector3f &

point_S

)

const

Return the depth measurement that would result form point_S, expressed in the sensor frame, being measured.

Note

For example, for a pinhole camera this would return the z-coordinate of point_S whereas for a LiDAR it would return the norm of point_S.

pointInFrustum()

template<typename DerivedT >

bool se::SensorBase< DerivedT >::pointInFrustum

(

const Eigen::Vector3f &

point_S

)

const

Return whether point_S, expressed in the sensor frame, is inside the sensor frustum.

pointInFrustumInf()

template<typename DerivedT >

bool se::SensorBase< DerivedT >::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.

sphereInFrustum()

template<typename DerivedT >

bool se::SensorBase< DerivedT >::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.

This is a fast approximate test that in rare cases may return false positives.

sphereInFrustumInf()

template<typename DerivedT >

bool se::SensorBase< DerivedT >::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.

This is a fast approximate test that in rare cases may return false positives.

type()

template<typename DerivedT >

static std::string se::SensorBase< DerivedT >::type ( )

static

Return the underlying sensor type as a string.

Member Data Documentation

left_hand_frame

template<typename DerivedT >

bool se::SensorBase< DerivedT >::left_hand_frame

near_plane

template<typename DerivedT >

float se::SensorBase< DerivedT >::near_plane

far_plane

template<typename DerivedT >

float se::SensorBase< DerivedT >::far_plane

T_BS

template<typename DerivedT >

Eigen::Isometry3f se::SensorBase< DerivedT >::T_BS

pixel_voxel_ratio_per_scale

template<typename DerivedT >

std::vector<float> se::SensorBase< DerivedT >::pixel_voxel_ratio_per_scale

---

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

• include/se/sensor/sensor.hpp