#include <sensor.hpp>

Public Member Functions
template<typename ConfigT >
	SensorBase (const ConfigT &c)

	SensorBase (const DerivedT &d)

template<typename ValidPredicate >
bool	projectToPixelValue (const Eigen::Vector3f &point_S, const se::Image< float > &img, float &img_value, ValidPredicate valid_predicate) const
	Project a point in sensor frame to its image value. More...

template<typename ValidPredicate >
bool	getPixelValue (const Eigen::Vector2f &pixel_f, const se::Image< float > &img, float &img_value, ValidPredicate valid_predicate) const
	Get the image value for a given pixel coordindate. More...

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
	Computes the scale corresponding to the back-projected pixel size in voxel space. More...

float	nearDist (const Eigen::Vector3f &ray_S) const
	Return the minimum distance at which measurements are available along the ray passing through pixels x and y. More...

float	farDist (const Eigen::Vector3f &ray_S) const
	Return the maximum distance at which measurements are available along the ray passing through pixels x and y. More...

float	measurementFromPoint (const Eigen::Vector3f &point_S) const
	Convert a point in the sensor frame into a depth measurement. More...

bool	pointInFrustum (const Eigen::Vector3f &point_S) const
	Test whether a 3D point in sensor coordinates is inside the sensor frustum. More...

bool	pointInFrustumInf (const Eigen::Vector3f &point_S) const
	Test whether a 3D point in sensor coordinates is inside the sensor frustum. More...

bool	sphereInFrustum (const Eigen::Vector3f &centre_S, const float radius) const
	Test whether a sphere in sensor coordinates is at least partially inside the sensor frustum. More...

bool	sphereInFrustumInf (const Eigen::Vector3f &centre_S, const float radius) const
	Test whether a sphere in sensor coordinates is at least partially inside the sensor frustum. More...

Static Public Member Functions
static std::string	type ()
	Return the sensor type as a string. More...

Public Attributes
bool	left_hand_frame

float	near_plane

float	far_plane

Eigen::Matrix4f	T_BS

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

◆ projectToPixelValue()

template<typename DerivedT>

template<typename ValidPredicate >

bool se::SensorBase< DerivedT >::projectToPixelValue	(	const Eigen::Vector3f &	point_S,
		const se::Image< float > &	img,
		float &	img_value,
		ValidPredicate	valid_predicate
	)		const

Project a point in sensor frame to its image value.

Template Parameters

ValidPredicate

Parameters

[in]	point_S	The point to project to the image
[in]	img	The image to get the value from
[out]	img_value	The image value the point projects to
[in]	valid_predicate	The lambda function verifying if the value is valid (e.g. infront of far dist)

Returns: True if the image value is valid, false otherwise

◆ getPixelValue()

template<typename DerivedT>

template<typename ValidPredicate >

bool se::SensorBase< DerivedT >::getPixelValue	(	const Eigen::Vector2f &	pixel_f,
		const se::Image< float > &	img,
		float &	img_value,
		ValidPredicate	valid_predicate
	)		const

Get the image value for a given pixel coordindate.

Template Parameters

ValidPredicate

Parameters

[in]	pixel_f	The pixel coordinates to get the image value from
[in]	img	The image to get the value from
[out]	img_value	The image value corresponding the the pixel
[in]	valid_predicate	The lambda function verifying if the value is valid (e.g. infront of far dist)

Returns: True if the image value is valid, false otherwise

◆ 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

Computes the scale corresponding to the back-projected pixel size in voxel space.

Parameters

[in]	block_centre_S	The coordinates of the block centre in the sensor frame.
[in]	map_res	The resolution of the map in [meter].
[in]	last_scale	Scale from which propagate up voxel values.
[in]	min_scale	Finest scale at which data has been integrated into the voxel block (-1 if no data has been integrated yet).
[in]	max_block_scale	The maximum allowed scale within a VoxelBlock.

Returns: The scale that should be used for the integration.

◆ nearDist()

template<typename DerivedT>

float se::SensorBase< DerivedT >::nearDist ( const Eigen::Vector3f & ray_S ) const

Return the minimum distance at which measurements are available along the ray passing through pixels x and y.

This differs from the PinholeCamera::near_plane since the near_plane is a z-value while nearDist is a distance along a ray.

Parameters

[in] ray_S The ray starting from the sensor centre and expressed in the sensor frame along which nearDist will be computed.

Returns: The minimum distance along the ray through the pixel at which valid measurements may be encountered.

◆ farDist()

template<typename DerivedT>

float se::SensorBase< DerivedT >::farDist ( const Eigen::Vector3f & ray_S ) const

Return the maximum distance at which measurements are available along the ray passing through pixels x and y.

This differs from the PinholeCamera::far_plane since the far_plane is a z-value while farDist is a distance along a ray.

Parameters

[in] ray_S The ray starting from the sensor centre and expressed in the sensor frame along which nearDist will be computed.

Returns: The maximum distance along the ray through the pixel at which valid measurements may be encountered.

◆ measurementFromPoint()

template<typename DerivedT>

float se::SensorBase< DerivedT >::measurementFromPoint ( const Eigen::Vector3f & point_S ) const

Convert a point in the sensor frame into a depth measurement.

For the PinholeCamera this means returning the z-coordinate of the point.

Parameters

[in] point_C A point observed by the sensor expressed in the sensor frame.

Returns: The depth value that the sensor would get from this point.

◆ pointInFrustum()

template<typename DerivedT>

bool se::SensorBase< DerivedT >::pointInFrustum ( const Eigen::Vector3f & point_S ) const

Test whether a 3D point in sensor coordinates is inside the sensor frustum.

◆ pointInFrustumInf()

template<typename DerivedT>

bool se::SensorBase< DerivedT >::pointInFrustumInf ( const Eigen::Vector3f & point_S ) const

Test whether a 3D point in sensor coordinates is inside the sensor frustum.

The difference from PinholeCamera::pointInFrustum is that it is assumed that the far plane is at infinity.

◆ sphereInFrustum()

template<typename DerivedT>

bool se::SensorBase< DerivedT >::sphereInFrustum	(	const Eigen::Vector3f &	centre_S,
		const float	radius
	)		const

Test whether a sphere in sensor coordinates is at least partially inside the sensor frustum.

It is tested whether the sphere's centre is inside the sensor frustum offest outwards by the sphere's radius. This is a quick test that in some rare cases may return a sphere as being visible although it isn't.

◆ sphereInFrustumInf()

template<typename DerivedT>

bool se::SensorBase< DerivedT >::sphereInFrustumInf	(	const Eigen::Vector3f &	centre_S,
		const float	radius
	)		const

Test whether a sphere in sensor coordinates is at least partially inside the sensor frustum.

The difference from PinholeCamera::sphereInFrustum is that it is assumed that the far plane is at infinity.

◆ type()

template<typename DerivedT>

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

static

Return the 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::Matrix4f se::SensorBase< DerivedT >::T_BS

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

include/se/sensor/sensor.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ SensorBase() [1/2]

◆ SensorBase() [2/2]

Member Function Documentation

◆ projectToPixelValue()

◆ getPixelValue()

◆ computeIntegrationScale()

◆ nearDist()

◆ farDist()

◆ measurementFromPoint()

◆ pointInFrustum()

◆ pointInFrustumInf()

◆ sphereInFrustum()

◆ sphereInFrustumInf()

◆ type()

Member Data Documentation

◆ left_hand_frame

◆ near_plane

◆ far_plane

◆ T_BS