SimpleSensorNoise.h
Go to the documentation of this file.
1 // kate: replace-tabs off; indent-width 4; indent-mode normal
2 // vim: ts=4:sw=4:noexpandtab
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.
11 
12 Redistribution and use in source and binary forms, with or without
13 modification, are permitted provided that the following conditions are met:
14  * Redistributions of source code must retain the above copyright
15  notice, this list of conditions and the following disclaimer.
16  * Redistributions in binary form must reproduce the above copyright
17  notice, this list of conditions and the following disclaimer in the
18  documentation and/or other materials provided with the distribution.
19  * Neither the name of the <organization> nor the
20  names of its contributors may be used to endorse or promote products
21  derived from this software without specific prior written permission.
22 
23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
24 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
25 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
26 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
27 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
28 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
30 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
31 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
32 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
33 
34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 
40 template<typename T>
42 {
49 
50  typedef typename PointMatcher<T>::Matrix Matrix;
53 
54  inline static const std::string description()
55  {
56  return "Add a 1D descriptor named <sensorNoise> that would represent the noise radius expressed in meter based on SICK LMS specifications \\cite{Pomerleau2012Noise}.";
57  }
58 
59  inline static const ParametersDoc availableParameters()
60  {
61  return {
62  {"sensorType", "Type of the sensor used. Choices: 0=Sick LMS-1xx, 1=Hokuyo URG-04LX, 2=Hokuyo UTM-30LX, 3=Kinect/Xtion", "0", "0", "2147483647", &P::Comp<unsigned>},
63  {"gain", "If the point cloud is coming from an untrusty source, you can use the gain to augment the uncertainty", "1", "1", "inf", &P::Comp<T>}
64  };
65  }
66 
67  const unsigned sensorType;
68  const T gain;
69 
72 
73  virtual DataPoints filter(const DataPoints& input);
74  virtual void inPlaceFilter(DataPoints& cloud);
75 
76 private:
81  Matrix computeLaserNoise(const T minRadius, const T beamAngle, const T beamConst, const Matrix& features);
82 
83 };
SimpleSensorNoiseDataPointsFilter
Sick LMS-xxx noise model.
Definition: SimpleSensorNoise.h:41
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
SimpleSensorNoiseDataPointsFilter::gain
const T gain
Definition: SimpleSensorNoise.h:68
SimpleSensorNoiseDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: SimpleSensorNoise.h:43
SimpleSensorNoiseDataPointsFilter::SimpleSensorNoiseDataPointsFilter
SimpleSensorNoiseDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: SimpleSensorNoise.cpp:47
build_map.T
T
Definition: build_map.py:34
SimpleSensorNoiseDataPointsFilter::description
static const std::string description()
Definition: SimpleSensorNoise.h:54
SimpleSensorNoiseDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: SimpleSensorNoise.h:46
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
SimpleSensorNoiseDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: SimpleSensorNoise.h:59
testing::internal::string
::std::string string
Definition: gtest.h:1979
SimpleSensorNoiseDataPointsFilter::Matrix
PointMatcher< T >::Matrix Matrix
Definition: SimpleSensorNoise.h:50
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
SimpleSensorNoiseDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: SimpleSensorNoise.cpp:80
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
SimpleSensorNoiseDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: SimpleSensorNoise.h:45
SimpleSensorNoiseDataPointsFilter::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: SimpleSensorNoise.h:51
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
SimpleSensorNoiseDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: SimpleSensorNoise.h:47
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
SimpleSensorNoiseDataPointsFilter::sensorType
const unsigned sensorType
Definition: SimpleSensorNoise.h:67
SimpleSensorNoiseDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: SimpleSensorNoise.h:48
SimpleSensorNoiseDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: SimpleSensorNoise.cpp:71
SimpleSensorNoiseDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: SimpleSensorNoise.h:44
PointMatcher.h
public interface
SimpleSensorNoiseDataPointsFilter::InvalidField
PointMatcher< T >::DataPoints::InvalidField InvalidField
Definition: SimpleSensorNoise.h:52
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
SimpleSensorNoiseDataPointsFilter::computeLaserNoise
Matrix computeLaserNoise(const T minRadius, const T beamAngle, const T beamConst, const Matrix &features)
Definition: SimpleSensorNoise.cpp:123


libpointmatcher
Author(s):
autogenerated on Mon Jan 1 2024 03:24:43