#include <RemoveSensorBias.h>

Inheritance diagram for RemoveSensorBiasDataPointsFilter< T >:

Classes
struct	SensorParameters

Public Types
typedef PM::DataPoints	DataPoints

typedef PM::DataPointsFilter	DataPointsFilter

typedef DataPoints::InvalidField	InvalidField

typedef Parametrizable::InvalidParameter	InvalidParameter

typedef PM::Matrix	Matrix

typedef PointMatcherSupport::Parametrizable	P

typedef Parametrizable::ParameterDoc	ParameterDoc

typedef Parametrizable::Parameters	Parameters

typedef Parametrizable::ParametersDoc	ParametersDoc

typedef PointMatcherSupport::Parametrizable	Parametrizable

typedef PointMatcher< T >	PM

typedef PM::Vector	Vector

Public Types inherited from PointMatcherSupport::Parametrizable
typedef bool(*	LexicalComparison) (std::string a, std::string b)
	A function that returns whether a is smaller than b. More...

typedef std::string	Parameter
	alias More...

typedef std::map< std::string, Parameter >	Parameters
	Parameters stored as a map of string->string. More...

typedef std::vector< ParameterDoc >	ParametersDoc
	The documentation of all parameters. More...

typedef std::set< std::string >	ParametersUsed
	Parameters whose value has been read. More...

Public Member Functions
virtual DataPoints	filter (const DataPoints &input)
	Apply filters to input point cloud. This is the non-destructive version and returns a copy. More...

virtual void	inPlaceFilter (DataPoints &cloud)
	Apply these filters to a point cloud without copying. More...

	RemoveSensorBiasDataPointsFilter (const Parameters &params=Parameters())

Public Member Functions inherited from PointMatcher< T >::DataPointsFilter
	DataPointsFilter ()
	Construct without parameter. More...

	DataPointsFilter (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with parameters. More...

virtual void	init ()
	Init this filter. More...

virtual	~DataPointsFilter ()
	virtual destructor More...

Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
S	get (const std::string &paramName)
	Return the value of paramName, lexically-casted to S. More...

std::string	getParamValueString (const std::string &paramName)
	Get the value of a parameter, as a string. More...

	Parametrizable ()
	Construct a documentation of parameters from a description in the source. More...

	Parametrizable (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with documented parameters. More...

virtual	~Parametrizable ()
	Virtual destructor, do nothing. More...

Static Public Member Functions
static const ParametersDoc	availableParameters ()

static const std::string	description ()

Static Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
static bool	Comp (std::string a, std::string b)
	Return whether a < b, lexically casted to S. More...

Private Types
enum	SensorType : int { LMS_1XX =0, HDL_32E =1 }

Private Member Functions
double	diffDist (const double depth, const T theta, const double aperture) const

std::array< double, 4 >	getCoefficients (const double depth, const T theta, const double aperture) const

double	ratioCurvature (const double depth, const T theta, const double aperture) const

Private Attributes
const T	angleThreshold

const SensorType	sensorType

Static Private Attributes
static constexpr double	c = 299792458.0

static constexpr double	lambda_light = 905e-9

static constexpr double	pulse_intensity = 0.39

static constexpr double	tau = 50e-9

Additional Inherited Members
Public Attributes inherited from PointMatcherSupport::Parametrizable
const std::string	className
	name of the class More...

Parameters	parameters
	parameters with their values encoded in string More...

const ParametersDoc	parametersDoc
	documentation of parameters More...

ParametersUsed	parametersUsed
	parameters whose value has actually been read More...

Detailed Description

template<typename T>
struct RemoveSensorBiasDataPointsFilter< T >

Definition at line 41 of file RemoveSensorBias.h.

Member Typedef Documentation

◆ DataPoints

template<typename T >

typedef PM::DataPoints RemoveSensorBiasDataPointsFilter< T >::DataPoints

Definition at line 51 of file RemoveSensorBias.h.

◆ DataPointsFilter

template<typename T >

typedef PM::DataPointsFilter RemoveSensorBiasDataPointsFilter< T >::DataPointsFilter

Definition at line 52 of file RemoveSensorBias.h.

◆ InvalidField

template<typename T >

typedef DataPoints::InvalidField RemoveSensorBiasDataPointsFilter< T >::InvalidField

Definition at line 56 of file RemoveSensorBias.h.

◆ InvalidParameter

template<typename T >

typedef Parametrizable::InvalidParameter RemoveSensorBiasDataPointsFilter< T >::InvalidParameter

Definition at line 48 of file RemoveSensorBias.h.

◆ Matrix

template<typename T >

typedef PM::Matrix RemoveSensorBiasDataPointsFilter< T >::Matrix

Definition at line 53 of file RemoveSensorBias.h.

◆ P

template<typename T >

typedef PointMatcherSupport::Parametrizable RemoveSensorBiasDataPointsFilter< T >::P

Definition at line 44 of file RemoveSensorBias.h.

◆ ParameterDoc

template<typename T >

typedef Parametrizable::ParameterDoc RemoveSensorBiasDataPointsFilter< T >::ParameterDoc

Definition at line 46 of file RemoveSensorBias.h.

◆ Parameters

template<typename T >

typedef Parametrizable::Parameters RemoveSensorBiasDataPointsFilter< T >::Parameters

Definition at line 45 of file RemoveSensorBias.h.

◆ ParametersDoc

template<typename T >

typedef Parametrizable::ParametersDoc RemoveSensorBiasDataPointsFilter< T >::ParametersDoc

Definition at line 47 of file RemoveSensorBias.h.

◆ Parametrizable

template<typename T >

typedef PointMatcherSupport::Parametrizable RemoveSensorBiasDataPointsFilter< T >::Parametrizable

Definition at line 43 of file RemoveSensorBias.h.

◆ PM

template<typename T >

typedef PointMatcher<T> RemoveSensorBiasDataPointsFilter< T >::PM

Definition at line 50 of file RemoveSensorBias.h.

◆ Vector

template<typename T >

typedef PM::Vector RemoveSensorBiasDataPointsFilter< T >::Vector

Definition at line 54 of file RemoveSensorBias.h.

Member Enumeration Documentation

◆ SensorType

template<typename T >

enum RemoveSensorBiasDataPointsFilter::SensorType : int

private

Enumerator
LMS_1XX
HDL_32E

Definition at line 80 of file RemoveSensorBias.h.

Constructor & Destructor Documentation

◆ RemoveSensorBiasDataPointsFilter()

template<typename T >

RemoveSensorBiasDataPointsFilter< T >::RemoveSensorBiasDataPointsFilter ( const Parameters & params = Parameters() )

Definition at line 48 of file RemoveSensorBias.cpp.

Member Function Documentation

◆ availableParameters()

template<typename T >

static const ParametersDoc RemoveSensorBiasDataPointsFilter< T >::availableParameters ( )

inlinestatic

Definition at line 67 of file RemoveSensorBias.h.

◆ description()

template<typename T >

static const std::string RemoveSensorBiasDataPointsFilter< T >::description ( )

inlinestatic

Definition at line 58 of file RemoveSensorBias.h.

◆ diffDist()

template<typename T >

double RemoveSensorBiasDataPointsFilter< T >::diffDist	(	const double	depth,
		const T	theta,
		const double	aperture
	)		const

private

Definition at line 156 of file RemoveSensorBias.cpp.

◆ filter()

template<typename T >

PointMatcher< T >::DataPoints RemoveSensorBiasDataPointsFilter< T >::filter ( const DataPoints & input )

virtual

Apply filters to input point cloud. This is the non-destructive version and returns a copy.

Implements PointMatcher< T >::DataPointsFilter.

Definition at line 58 of file RemoveSensorBias.cpp.

◆ getCoefficients()

template<typename T >

std::array< double, 4 > RemoveSensorBiasDataPointsFilter< T >::getCoefficients	(	const double	depth,
		const T	theta,
		const double	aperture
	)		const

private

Definition at line 132 of file RemoveSensorBias.cpp.

◆ inPlaceFilter()

template<typename T >

void RemoveSensorBiasDataPointsFilter< T >::inPlaceFilter ( DataPoints & cloud )

virtual

Apply these filters to a point cloud without copying.

Implements PointMatcher< T >::DataPointsFilter.

Definition at line 66 of file RemoveSensorBias.cpp.

◆ ratioCurvature()

template<typename T >

double RemoveSensorBiasDataPointsFilter< T >::ratioCurvature	(	const double	depth,
		const T	theta,
		const double	aperture
	)		const

private

Definition at line 173 of file RemoveSensorBias.cpp.

Member Data Documentation

◆ angleThreshold

template<typename T >

const T RemoveSensorBiasDataPointsFilter< T >::angleThreshold

private

Definition at line 100 of file RemoveSensorBias.h.

◆ c

template<typename T >

constexpr double RemoveSensorBiasDataPointsFilter< T >::c = 299792458.0

staticprivate

Definition at line 97 of file RemoveSensorBias.h.

◆ lambda_light

template<typename T >

constexpr double RemoveSensorBiasDataPointsFilter< T >::lambda_light = 905e-9

staticprivate

Definition at line 96 of file RemoveSensorBias.h.

◆ pulse_intensity

template<typename T >

constexpr double RemoveSensorBiasDataPointsFilter< T >::pulse_intensity = 0.39

staticprivate

Definition at line 95 of file RemoveSensorBias.h.

◆ sensorType

template<typename T >

const SensorType RemoveSensorBiasDataPointsFilter< T >::sensorType

private

Definition at line 99 of file RemoveSensorBias.h.

◆ tau

template<typename T >

constexpr double RemoveSensorBiasDataPointsFilter< T >::tau = 50e-9

staticprivate

Definition at line 94 of file RemoveSensorBias.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

template<typename T> struct RemoveSensorBiasDataPointsFilter< T >

Member Typedef Documentation

◆ DataPoints

◆ DataPointsFilter

◆ InvalidField

◆ InvalidParameter

◆ Matrix

◆ P

◆ ParameterDoc

◆ Parameters

◆ ParametersDoc

◆ Parametrizable

◆ PM

◆ Vector

Member Enumeration Documentation

◆ SensorType

Constructor & Destructor Documentation

◆ RemoveSensorBiasDataPointsFilter()

Member Function Documentation

◆ availableParameters()

◆ description()

◆ diffDist()

◆ filter()

◆ getCoefficients()

◆ inPlaceFilter()

◆ ratioCurvature()

Member Data Documentation

◆ angleThreshold

◆ c

◆ lambda_light

◆ pulse_intensity

◆ sensorType

◆ tau

template<typename T>
struct RemoveSensorBiasDataPointsFilter< T >