se::PinholeCamera::Config Struct Reference

#include <pinhole_camera.hpp>

Inheritance diagram for se::PinholeCamera::Config:

Collaboration diagram for se::PinholeCamera::Config:

Public Member Functions
void	readYaml (const std::string &filename)
	Reads the struct members from the "sensor" node of a YAML file.
Config	operator/ (const float downsampling_factor) const
Public Member Functions inherited from se::SensorBase< DerivedT >::Config
void	readYaml (const std::string &filename)
	Reads the struct members from the "sensor" node of a YAML file.
Config	operator/ (const float downsampling_factor) const

Public Attributes
float	fx = std::numeric_limits<float>::quiet_NaN()
	The sensor's horizontal focal length in pixels.
float	fy = std::numeric_limits<float>::quiet_NaN()
	The sensor's vertical focal length in pixels.
float	cx = std::numeric_limits<float>::quiet_NaN()
	The sensor's optical centre horizontal coordinate in pixels.
float	cy = std::numeric_limits<float>::quiet_NaN()
	The sensor's optical centre vertical coordinate in pixels.
Public Attributes inherited from se::SensorBase< DerivedT >::Config
int	width = 0
	The width of images produced by the sensor in pixels.
int	height = 0
	The height of images produced by the sensor in pixels.
float	near_plane = 0.01f
	The sensor's near plane in metres.
float	far_plane = 10.0f
	The sensor's far plane in metres.
Eigen::Isometry3f	T_BS = Eigen::Isometry3f::Identity()
	The transformation from the sensor frame S to the body frame B.
std::vector< float >	pixel_voxel_ratio_per_scale = {1.5f, 3.0f, 6.0f}
	The pixel-size to voxel-size ratio thresholds, in ascendig order and in physical coordinates, for computing the integration scale.

Member Function Documentation

readYaml()

void se::PinholeCamera::Config::readYaml

(

const std::string &

filename

)

Reads the struct members from the "sensor" node of a YAML file.

Members not present in the YAML file aren't modified.

operator/()

Config se::PinholeCamera::Config::operator/

(

const float

downsampling_factor

)

const

Member Data Documentation

fx

float se::PinholeCamera::Config::fx = std::numeric_limits<float>::quiet_NaN()

The sensor's horizontal focal length in pixels.

fy

float se::PinholeCamera::Config::fy = std::numeric_limits<float>::quiet_NaN()

The sensor's vertical focal length in pixels.

cx

float se::PinholeCamera::Config::cx = std::numeric_limits<float>::quiet_NaN()

The sensor's optical centre horizontal coordinate in pixels.

cy

float se::PinholeCamera::Config::cy = std::numeric_limits<float>::quiet_NaN()

The sensor's optical centre vertical coordinate in pixels.

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

• include/se/sensor/pinhole_camera.hpp