RemoveSensorBias.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 
10 All rights reserved.
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32 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 #include <array>
39 
40 template<typename T>
42 {
49 
51  typedef typename PM::DataPoints DataPoints;
53  typedef typename PM::Matrix Matrix;
54  typedef typename PM::Vector Vector;
55 
57 
58  inline static const std::string description()
59  {
60  return "Remove the bias induced by the angle of incidence\n\n"
61  "Required descriptors: incidenceAngles, observationDirections.\n"
62  "Produced descritors: none.\n"
63  "Altered descriptors: none.\n"
64  "Altered features: points coordinates and number of points.";
65  }
66 
67  inline static const ParametersDoc availableParameters()
68  {
69  return {
70  {"sensorType", "Type of the sensor used. Choices: 0=Sick LMS-1xx, 1=Velodyne HDL-32E", "0", "0", "1", &P::Comp < int >},
71  {"angleThreshold", "Threshold at which angle the correction is not applied, in degrees", "88.", "0.", "90.", &P::Comp < T >}
72  };
73  }
74 
76  virtual DataPoints filter(const DataPoints& input);
77  virtual void inPlaceFilter(DataPoints& cloud);
78 
79 private:
80  enum SensorType : int { LMS_1XX=0, HDL_32E=1 };
81  // doubles are used since large and tiny numbers are handled in this filter
83  private:
84  SensorParameters(double aperture_, double k1_, double k2_): aperture(aperture_), k1(k1_), k2(k2_) {}
85  public:
86  const double aperture;
87  const double k1;
88  const double k2;
89 
90  static const SensorParameters LMS_1XX;
91  static const SensorParameters HDL_32E;
92  };
93 
94  static constexpr double tau = 50e-9; //s - pulse length
95  static constexpr double pulse_intensity = 0.39; //w.m^-2 - pulse intensity
96  static constexpr double lambda_light = 905e-9; //m - wavelength of the laser
97  static constexpr double c = 299792458.0; //m.s^-1 - celerity of light
98 
101 
102  std::array<double,4> getCoefficients(const double depth, const T theta, const double aperture) const;
103  double diffDist(const double depth, const T theta, const double aperture) const;
104  double ratioCurvature(const double depth, const T theta, const double aperture) const;
105 };
106 
107 template<typename T>
109  RemoveSensorBiasDataPointsFilter<T>::SensorParameters(0.0075049, 6.08040951e+00, 3.17921789e-03 );
110 
111 template<typename T>
113  RemoveSensorBiasDataPointsFilter<T>::SensorParameters(0.0014835, 1.03211569e+01, 7.07893371e-03);
114 
115 
RemoveSensorBiasDataPointsFilter::c
static constexpr double c
Definition: RemoveSensorBias.h:97
RemoveSensorBiasDataPointsFilter::SensorParameters
Definition: RemoveSensorBias.h:82
RemoveSensorBiasDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: RemoveSensorBias.cpp:66
build_map.T
T
Definition: build_map.py:34
Parameters
PM::Parameters Parameters
Definition: filterProfiler.cpp:20
RemoveSensorBiasDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: RemoveSensorBias.h:45
RemoveSensorBiasDataPointsFilter::SensorParameters::LMS_1XX
static const SensorParameters LMS_1XX
Definition: RemoveSensorBias.h:90
RemoveSensorBiasDataPointsFilter::SensorParameters::SensorParameters
SensorParameters(double aperture_, double k1_, double k2_)
Definition: RemoveSensorBias.h:84
RemoveSensorBiasDataPointsFilter
Definition: RemoveSensorBias.h:41
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
RemoveSensorBiasDataPointsFilter::Matrix
PM::Matrix Matrix
Definition: RemoveSensorBias.h:53
RemoveSensorBiasDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: RemoveSensorBias.h:47
RemoveSensorBiasDataPointsFilter::angleThreshold
const T angleThreshold
Definition: RemoveSensorBias.h:100
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
RemoveSensorBiasDataPointsFilter::description
static const std::string description()
Definition: RemoveSensorBias.h:58
RemoveSensorBiasDataPointsFilter::Vector
PM::Vector Vector
Definition: RemoveSensorBias.h:54
testing::internal::string
::std::string string
Definition: gtest.h:1979
RemoveSensorBiasDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: RemoveSensorBias.cpp:58
RemoveSensorBiasDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: RemoveSensorBias.h:44
RemoveSensorBiasDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: RemoveSensorBias.h:48
RemoveSensorBiasDataPointsFilter::SensorParameters::HDL_32E
static const SensorParameters HDL_32E
Definition: RemoveSensorBias.h:91
RemoveSensorBiasDataPointsFilter::pulse_intensity
static constexpr double pulse_intensity
Definition: RemoveSensorBias.h:95
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
RemoveSensorBiasDataPointsFilter::RemoveSensorBiasDataPointsFilter
RemoveSensorBiasDataPointsFilter(const Parameters &params=Parameters())
Definition: RemoveSensorBias.cpp:48
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
RemoveSensorBiasDataPointsFilter::HDL_32E
@ HDL_32E
Definition: RemoveSensorBias.h:80
RemoveSensorBiasDataPointsFilter::getCoefficients
std::array< double, 4 > getCoefficients(const double depth, const T theta, const double aperture) const
Definition: RemoveSensorBias.cpp:132
RemoveSensorBiasDataPointsFilter::lambda_light
static constexpr double lambda_light
Definition: RemoveSensorBias.h:96
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
RemoveSensorBiasDataPointsFilter::tau
static constexpr double tau
Definition: RemoveSensorBias.h:94
RemoveSensorBiasDataPointsFilter::SensorParameters::k1
const double k1
Definition: RemoveSensorBias.h:87
PointMatcher::DataPointsFilter
A data filter takes a point cloud as input, transforms it, and produces another point cloud as output...
Definition: PointMatcher.h:440
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
RemoveSensorBiasDataPointsFilter::PM
PointMatcher< T > PM
Definition: RemoveSensorBias.h:50
RemoveSensorBiasDataPointsFilter::DataPoints
PM::DataPoints DataPoints
Definition: RemoveSensorBias.h:51
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
RemoveSensorBiasDataPointsFilter::LMS_1XX
@ LMS_1XX
Definition: RemoveSensorBias.h:80
RemoveSensorBiasDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: RemoveSensorBias.h:67
RemoveSensorBiasDataPointsFilter::sensorType
const SensorType sensorType
Definition: RemoveSensorBias.h:99
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
RemoveSensorBiasDataPointsFilter::DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: RemoveSensorBias.h:52
RemoveSensorBiasDataPointsFilter::InvalidField
DataPoints::InvalidField InvalidField
Definition: RemoveSensorBias.h:56
RemoveSensorBiasDataPointsFilter::ratioCurvature
double ratioCurvature(const double depth, const T theta, const double aperture) const
Definition: RemoveSensorBias.cpp:173
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
RemoveSensorBiasDataPointsFilter::SensorParameters::aperture
const double aperture
Definition: RemoveSensorBias.h:86
RemoveSensorBiasDataPointsFilter::SensorParameters::k2
const double k2
Definition: RemoveSensorBias.h:88
PointMatcher.h
public interface
RemoveSensorBiasDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: RemoveSensorBias.h:46
RemoveSensorBiasDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: RemoveSensorBias.h:43
RemoveSensorBiasDataPointsFilter::diffDist
double diffDist(const double depth, const T theta, const double aperture) const
Definition: RemoveSensorBias.cpp:156
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
RemoveSensorBiasDataPointsFilter::SensorType
SensorType
Definition: RemoveSensorBias.h:80


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