ObservationDirection.h
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3 /*
4 
5 Copyright (c) 2010--2018,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
9 
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34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 
40 template<typename T>
42 {
49 
50  typedef typename PointMatcher<T>::Vector Vector;
53 
54  inline static const std::string description()
55  {
56  return "This filter extracts observation directions (vector from point to sensor), considering a sensor at position (x,y,z).\n\n"
57  "Required descriptors: none.\n"
58  "Produced descritors: observationDirections.\n"
59  "Altered descriptors: none.\n"
60  "Altered features: none.";
61  }
62 
63  inline static const ParametersDoc availableParameters()
64  {
65  return {
66  {"x", "x-coordinate of sensor", "0"},
67  {"y", "y-coordinate of sensor", "0"},
68  {"z", "z-coordinate of sensor", "0"}
69  };
70  }
71 
72  const T centerX;
73  const T centerY;
74  const T centerZ;
75 
78  virtual DataPoints filter(const DataPoints& input);
79  virtual void inPlaceFilter(DataPoints& cloud);
80 };
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
build_map.T
T
Definition: build_map.py:34
ObservationDirectionDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: ObservationDirection.h:47
ObservationDirectionDataPointsFilter
Extract observation direction.
Definition: ObservationDirection.h:41
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
testing::internal::string
::std::string string
Definition: gtest.h:1979
ObservationDirectionDataPointsFilter::description
static const std::string description()
Definition: ObservationDirection.h:54
ObservationDirectionDataPointsFilter::centerZ
const T centerZ
Definition: ObservationDirection.h:74
ObservationDirectionDataPointsFilter::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: ObservationDirection.h:51
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
align_sequence.params
params
Definition: align_sequence.py:13
ObservationDirectionDataPointsFilter::centerY
const T centerY
Definition: ObservationDirection.h:73
ObservationDirectionDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: ObservationDirection.h:44
ObservationDirectionDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: ObservationDirection.h:48
ObservationDirectionDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: ObservationDirection.cpp:52
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
ObservationDirectionDataPointsFilter::InvalidField
PointMatcher< T >::DataPoints::InvalidField InvalidField
Definition: ObservationDirection.h:52
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
ObservationDirectionDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: ObservationDirection.h:46
ObservationDirectionDataPointsFilter::centerX
const T centerX
Definition: ObservationDirection.h:72
ObservationDirectionDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: ObservationDirection.h:63
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
ObservationDirectionDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: ObservationDirection.h:45
ObservationDirectionDataPointsFilter::ObservationDirectionDataPointsFilter
ObservationDirectionDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: ObservationDirection.cpp:40
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
ObservationDirectionDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: ObservationDirection.h:43
PointMatcher.h
public interface
ObservationDirectionDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: ObservationDirection.cpp:61
ObservationDirectionDataPointsFilter::Vector
PointMatcher< T >::Vector Vector
Definition: ObservationDirection.h:50
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199


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autogenerated on Mon Jan 1 2024 03:24:43