SimpleSensorNoise.cpp
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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>
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34 */
35 #include "SimpleSensorNoise.h"
36 
37 #include "PointMatcherPrivate.h"
38 
39 #include <string>
40 #include <vector>
41 
42 #include <boost/format.hpp>
43 
44 // SimpleSensorNoiseDataPointsFilter
45 // Constructor
46 template<typename T>
48  PointMatcher<T>::DataPointsFilter("SimpleSensorNoiseDataPointsFilter",
49  SimpleSensorNoiseDataPointsFilter::availableParameters(), params),
50  sensorType(Parametrizable::get<unsigned>("sensorType")),
51  gain(Parametrizable::get<T>("gain"))
52 {
53  std::vector<std::string> sensorNames = {"Sick LMS-1xx",
54  "Hokuyo URG-04LX",
55  "Hokuyo UTM-30LX",
56  "Kinect / Xtion","Sick Tim3xx"};
57  if (sensorType >= sensorNames.size())
58  {
59  throw InvalidParameter(
60  (boost::format("SimpleSensorNoiseDataPointsFilter: Error, sensorType id %1% does not exist.") % sensorType).str());
61  }
62 
63  LOG_INFO_STREAM("SimpleSensorNoiseDataPointsFilter - using sensor noise model: " << sensorNames[sensorType]);
64 }
65 
66 
67 // SimpleSensorNoiseDataPointsFilter
68 // Compute
69 template<typename T>
72 {
73  DataPoints output(input);
74  inPlaceFilter(output);
75  return output;
76 }
77 
78 // In-place filter
79 template<typename T>
81 {
82  cloud.allocateDescriptor("simpleSensorNoise", 1);
83  BOOST_AUTO(noise, cloud.getDescriptorViewByName("simpleSensorNoise"));
84 
85  switch(sensorType)
86  {
87  case 0: // Sick LMS-1xx
88  {
89  noise = computeLaserNoise(0.012, 0.0068, 0.0008, cloud.features);
90  break;
91  }
92  case 1: // Hokuyo URG-04LX
93  {
94  noise = computeLaserNoise(0.028, 0.0013, 0.0001, cloud.features);
95  break;
96  }
97  case 2: // Hokuyo UTM-30LX
98  {
99  noise = computeLaserNoise(0.018, 0.0006, 0.0015, cloud.features);
100  break;
101  }
102  case 3: // Kinect / Xtion
103  {
104  const int dim = cloud.features.rows();
105  const Matrix squaredValues(cloud.features.topRows(dim-1).colwise().norm().array().square());
106  noise = squaredValues*(0.5*0.00285);
107  break;
108  }
109  case 4: // Sick Tim3xx
110  {
111  noise = computeLaserNoise(0.004, 0.0053, -0.0092, cloud.features);
112  break;
113  }
114  default:
115  throw InvalidParameter(
116  (boost::format("SimpleSensorNoiseDataPointsFilter: Error, cannot compute noise for sensorType id %1% .") % sensorType).str());
117  }
118 
119 }
120 
121 template<typename T>
122 typename PointMatcher<T>::Matrix
124  const T minRadius, const T beamAngle, const T beamConst, const Matrix& features)
125 {
126  typedef typename Eigen::Array<T, 2, Eigen::Dynamic> Array2rows;
127 
128  const int nbPoints = features.cols();
129  const int dim = features.rows();
130 
131  Array2rows evalNoise = Array2rows::Constant(2, nbPoints, minRadius);
132  evalNoise.row(0) = beamAngle * features.topRows(dim-1).colwise().norm();
133  evalNoise.row(0) += beamConst;
134 
135  return evalNoise.colwise().maxCoeff();
136 }
137 
138 
141 
142 
SimpleSensorNoiseDataPointsFilter
Sick LMS-xxx noise model.
Definition: SimpleSensorNoise.h:41
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
SimpleSensorNoiseDataPointsFilter::SimpleSensorNoiseDataPointsFilter
SimpleSensorNoiseDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: SimpleSensorNoise.cpp:47
build_map.T
T
Definition: build_map.py:34
LOG_INFO_STREAM
#define LOG_INFO_STREAM(args)
Definition: PointMatcherPrivate.h:58
PointMatcher::DataPoints::allocateDescriptor
void allocateDescriptor(const std::string &name, const unsigned dim)
Makes sure a descriptor of a given name exists, if present, check its dimensions.
Definition: pointmatcher/DataPoints.cpp:519
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcherPrivate.h
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
SimpleSensorNoiseDataPointsFilter::Matrix
PointMatcher< T >::Matrix Matrix
Definition: SimpleSensorNoise.h:50
SimpleSensorNoiseDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: SimpleSensorNoise.cpp:80
align_sequence.params
params
Definition: align_sequence.py:13
SimpleSensorNoiseDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: SimpleSensorNoise.h:45
SimpleSensorNoise.h
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: pypoint_matcher_helper.h:42
PointMatcher::DataPoints::features
Matrix features
features of points in the cloud
Definition: PointMatcher.h:331
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointMatcherSupport::get
const M::mapped_type & get(const M &m, const typename M::key_type &k)
Definition: Bibliography.cpp:57
icp_advance_api.dim
dim
Definition: icp_advance_api.py:152
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
PointMatcher::DataPoints::getDescriptorViewByName
ConstView getDescriptorViewByName(const std::string &name) const
Get a const view on a descriptor by name, throw an exception if it does not exist.
Definition: pointmatcher/DataPoints.cpp:555
SimpleSensorNoiseDataPointsFilter::computeLaserNoise
Matrix computeLaserNoise(const T minRadius, const T beamAngle, const T beamConst, const Matrix &features)
Definition: SimpleSensorNoise.cpp:123


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