measurement.hpp

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2024 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2024 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_INTEGRATOR_MEASUREMENT_HPP
#define SE_INTEGRATOR_MEASUREMENT_HPP
 
#include <Eigen/Geometry>
#include <optional>
#include <se/image/image.hpp>
#include <se/map/utils/type_util.hpp>
 
namespace se {
 
template<typename SensorT, typename T>
struct Measurement {
    const Image<T>& image;
    const SensorT& sensor;
    const Eigen::Isometry3f T_WC;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
// Deduction guide to allow template argument deduction from aggregate initialization.
// https://en.cppreference.com/w/cpp/language/class_template_argument_deduction#User-defined_deduction_guides
template<typename SensorT, typename T>
Measurement(const Image<T>&, const SensorT&, const Eigen::Isometry3f&) -> Measurement<SensorT, T>;
 
 
 
template<typename SensorT>
struct Measurements {
    Measurement<SensorT, float> depth;
    std::optional<Measurement<SensorT, colour_t>> colour = std::nullopt;
    std::optional<Measurement<SensorT, id_t>> ids = std::nullopt;
    se::Image<float>* depth_sigma = nullptr;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
// Deduction guides to allow template argument deduction from aggregate initialization. They also
// allow aggregate initialization of std::optional<se::Measurement> members from se::Measurement.
// https://en.cppreference.com/w/cpp/language/class_template_argument_deduction#User-defined_deduction_guides
template<typename SensorT>
Measurements(const Measurement<SensorT, float>&) -> Measurements<SensorT>;
 
template<typename SensorT>
Measurements(const Measurement<SensorT, float>&, const Measurement<SensorT, colour_t>&)
    -> Measurements<SensorT>;
 
template<typename SensorT>
Measurements(const Measurement<SensorT, float>&,
             const Measurement<SensorT, colour_t>&,
             const Measurement<SensorT, id_t>&) -> Measurements<SensorT>;
 
template<typename SensorT>
Measurements(const Measurement<SensorT, float>&,
             const Measurement<SensorT, colour_t>&,
             const Measurement<SensorT, id_t>&,
             const Image<float>*) -> Measurements<SensorT>;
 
} // namespace se
 
#endif // SE_INTEGRATOR_MEASUREMENT_HPP