SimpleSensorNoise.h
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2018,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 #pragma once
00036 
00037 #include "PointMatcher.h"
00038 
00040 template<typename T>
00041 struct SimpleSensorNoiseDataPointsFilter: public PointMatcher<T>::DataPointsFilter
00042 {
00043         typedef PointMatcherSupport::Parametrizable Parametrizable;
00044         typedef PointMatcherSupport::Parametrizable P;
00045         typedef Parametrizable::Parameters Parameters;
00046         typedef Parametrizable::ParameterDoc ParameterDoc;
00047         typedef Parametrizable::ParametersDoc ParametersDoc;
00048         typedef Parametrizable::InvalidParameter InvalidParameter;
00049 
00050         typedef typename PointMatcher<T>::Matrix Matrix;        
00051         typedef typename PointMatcher<T>::DataPoints DataPoints;
00052         typedef typename PointMatcher<T>::DataPoints::InvalidField InvalidField;
00053         
00054         inline static const std::string description()
00055         {
00056                 return "Add a 1D descriptor named <sensorNoise> that would represent the noise radius expressed in meter based on SICK LMS specifications \\cite{Pomerleau2012Noise}.";
00057         }
00058         
00059         inline static const ParametersDoc availableParameters()
00060         {
00061                 return {
00062                         {"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>},
00063                         {"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>}
00064                 };
00065         }
00066 
00067         const unsigned sensorType;
00068         const T gain;
00069         
00071         SimpleSensorNoiseDataPointsFilter(const Parameters& params = Parameters());
00072         
00073         virtual DataPoints filter(const DataPoints& input);
00074         virtual void inPlaceFilter(DataPoints& cloud);
00075 
00076 private:
00081         Matrix computeLaserNoise(const T minRadius, const T beamAngle, const T beamConst, const Matrix& features);
00082 
00083 };


libpointmatcher
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autogenerated on Thu Jun 20 2019 19:51:32