se::SensorBase< DerivedT >::Config Struct Reference

Configuration parameters common for all sensor models. More...

#include <sensor.hpp>

Inheritance diagram for se::SensorBase< DerivedT >::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 Attributes
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.

Friends
std::ostream &	operator<< (std::ostream &os, const Config &c)

Detailed Description

template<typename DerivedT>
struct se::SensorBase< DerivedT >::Config

Configuration parameters common for all sensor models.

Member Function Documentation

readYaml()

template<typename DerivedT >

void se::SensorBase< DerivedT >::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/()

template<typename DerivedT >

Config se::SensorBase< DerivedT >::Config::operator/ ( const float  downsampling_factor ) const

inline

Friends And Related Symbol Documentation

operator<<

template<typename DerivedT >

std::ostream & operator<< ( std::ostream &  os, const Config &  c  )

friend

Member Data Documentation

width

template<typename DerivedT >

int se::SensorBase< DerivedT >::Config::width = 0

The width of images produced by the sensor in pixels.

height

template<typename DerivedT >

int se::SensorBase< DerivedT >::Config::height = 0

The height of images produced by the sensor in pixels.

near_plane

template<typename DerivedT >

float se::SensorBase< DerivedT >::Config::near_plane = 0.01f

The sensor's near plane in metres.

Avoid setting to 0 since numerical issues may arise.

far_plane

template<typename DerivedT >

float se::SensorBase< DerivedT >::Config::far_plane = 10.0f

The sensor's far plane in metres.

Avoid setting to infinity since performance may degrade significantly, for example with depth images containing really large erroneous measurements.

T_BS

template<typename DerivedT >

Eigen::Isometry3f se::SensorBase< DerivedT >::Config::T_BS = Eigen::Isometry3f::Identity()

The transformation from the sensor frame S to the body frame B.

pixel_voxel_ratio_per_scale

template<typename DerivedT >

std::vector<float> se::SensorBase< DerivedT >::Config::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.

See also se::SensorBase::computeIntegrationScale(). For example:

• pixel/voxel < pixel_voxel_ratio_per_scale[0] → scale = 0
• pixel/voxel < pixel_voxel_ratio_per_scale[1] → scale = 1
• etc.

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

• include/se/sensor/sensor.hpp