#include <pinhole_camera.hpp>

Inheritance diagram for se::PinholeCamera:

Public Member Functions
	PinholeCamera (const PinholeCameraConfig &config)

	PinholeCamera (const PinholeCameraConfig &config, const float downsampling_factor)

	PinholeCamera (const PinholeCamera &pinhole_camera, const float downsampling_factor)

int	computeIntegrationScaleImpl (const Eigen::Vector3f &block_centre, const float map_res, const int last_scale, const int min_scale, const int max_block_scale) const

float	nearDistImpl (const Eigen::Vector3f &ray_S) const

float	farDistImpl (const Eigen::Vector3f &ray_S) const

float	measurementFromPointImpl (const Eigen::Vector3f &point_S) const

bool	pointInFrustumImpl (const Eigen::Vector3f &point_S) const

bool	pointInFrustumInfImpl (const Eigen::Vector3f &point_S) const

bool	sphereInFrustumImpl (const Eigen::Vector3f &centre_S, const float radius) const

bool	sphereInFrustumInfImpl (const Eigen::Vector3f &centre_S, const float radius) const

void	computeFrustumVertices ()

void	computeFrustumNormals ()

Public Member Functions inherited from se::SensorBase< PinholeCamera >
	SensorBase (const ConfigT &c)

	SensorBase (const PinholeCamera &d)

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...

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	typeImpl ()

Static Public Member Functions inherited from se::SensorBase< PinholeCamera >
static std::string	type ()
	Return the sensor type as a string. More...

Public Attributes
srl::projection::PinholeCamera< srl::projection::NoDistortion >	model

float	scaled_pixel

float	horizontal_fov
	The horizontal field of view in radians. More...

float	vertical_fov
	The vertical field of view in radians. More...

Eigen::Matrix< float, 3, num_frustum_vertices_ >	frustum_vertices_

Eigen::Matrix< float, 4, num_frustum_normals_ >	frustum_normals_

Public Attributes inherited from se::SensorBase< PinholeCamera >
bool	left_hand_frame

float	near_plane

float	far_plane

Eigen::Matrix4f	T_BS

Static Public Attributes
static constexpr int	num_frustum_vertices_ = 8

static constexpr int	num_frustum_normals_ = 6

Constructor & Destructor Documentation

◆ PinholeCamera() [1/3]

se::PinholeCamera::PinholeCamera ( const PinholeCameraConfig & config )

◆ PinholeCamera() [2/3]

se::PinholeCamera::PinholeCamera	(	const PinholeCameraConfig &	config,
		const float	downsampling_factor
	)

◆ PinholeCamera() [3/3]

se::PinholeCamera::PinholeCamera	(	const PinholeCamera &	pinhole_camera,
		const float	downsampling_factor
	)

Member Function Documentation

◆ computeIntegrationScaleImpl()

int se::PinholeCamera::computeIntegrationScaleImpl	(	const Eigen::Vector3f &	block_centre,
		const float	map_res,
		const int	last_scale,
		const int	min_scale,
		const int	max_block_scale
	)		const

◆ nearDistImpl()

float se::PinholeCamera::nearDistImpl ( const Eigen::Vector3f & ray_S ) const

◆ farDistImpl()

float se::PinholeCamera::farDistImpl ( const Eigen::Vector3f & ray_S ) const

◆ measurementFromPointImpl()

float se::PinholeCamera::measurementFromPointImpl ( const Eigen::Vector3f & point_S ) const

◆ pointInFrustumImpl()

bool se::PinholeCamera::pointInFrustumImpl ( const Eigen::Vector3f & point_S ) const

◆ pointInFrustumInfImpl()

bool se::PinholeCamera::pointInFrustumInfImpl ( const Eigen::Vector3f & point_S ) const

◆ sphereInFrustumImpl()

bool se::PinholeCamera::sphereInFrustumImpl	(	const Eigen::Vector3f &	centre_S,
		const float	radius
	)		const

◆ sphereInFrustumInfImpl()

bool se::PinholeCamera::sphereInFrustumInfImpl	(	const Eigen::Vector3f &	centre_S,
		const float	radius
	)		const

◆ typeImpl()

static std::string se::PinholeCamera::typeImpl ( )

static

◆ computeFrustumVertices()

void se::PinholeCamera::computeFrustumVertices ( )

◆ computeFrustumNormals()

void se::PinholeCamera::computeFrustumNormals ( )

Member Data Documentation

◆ model

srl::projection::PinholeCamera<srl::projection::NoDistortion> se::PinholeCamera::model

◆ scaled_pixel

float se::PinholeCamera::scaled_pixel

◆ horizontal_fov

float se::PinholeCamera::horizontal_fov

The horizontal field of view in radians.

◆ vertical_fov

float se::PinholeCamera::vertical_fov

The vertical field of view in radians.

◆ num_frustum_vertices_

constexpr int se::PinholeCamera::num_frustum_vertices_ = 8

static

◆ num_frustum_normals_

constexpr int se::PinholeCamera::num_frustum_normals_ = 6

static

◆ frustum_vertices_

Eigen::Matrix<float, 3, num_frustum_vertices_> se::PinholeCamera::frustum_vertices_

◆ frustum_normals_

Eigen::Matrix<float, 4, num_frustum_normals_> se::PinholeCamera::frustum_normals_

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

include/se/sensor/pinhole_camera.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Constructor & Destructor Documentation

◆ PinholeCamera() [1/3]

◆ PinholeCamera() [2/3]

◆ PinholeCamera() [3/3]

Member Function Documentation

◆ computeIntegrationScaleImpl()

◆ nearDistImpl()

◆ farDistImpl()

◆ measurementFromPointImpl()

◆ pointInFrustumImpl()

◆ pointInFrustumInfImpl()

◆ sphereInFrustumImpl()

◆ sphereInFrustumInfImpl()

◆ typeImpl()

◆ computeFrustumVertices()

◆ computeFrustumNormals()

Member Data Documentation

◆ model

◆ scaled_pixel

◆ horizontal_fov

◆ vertical_fov

◆ num_frustum_vertices_

◆ num_frustum_normals_

◆ frustum_vertices_

◆ frustum_normals_