Sick LMS-xxx noise model. More...

#include <SimpleSensorNoise.h>

Inheritance diagram for SimpleSensorNoiseDataPointsFilter< T >:

Public Types
typedef PointMatcher< T >::DataPoints	DataPoints

typedef PointMatcher< T >::DataPoints::InvalidField	InvalidField

typedef Parametrizable::InvalidParameter	InvalidParameter

typedef PointMatcher< T >::Matrix	Matrix

typedef PointMatcherSupport::Parametrizable	P

typedef Parametrizable::ParameterDoc	ParameterDoc

typedef Parametrizable::Parameters	Parameters

typedef Parametrizable::ParametersDoc	ParametersDoc

typedef PointMatcherSupport::Parametrizable	Parametrizable

Public Types inherited from PointMatcherSupport::Parametrizable
typedef bool(*	LexicalComparison) (std::string a, std::string b)
	A function that returns whether a is smaller than b. More...

typedef std::string	Parameter
	alias More...

typedef std::map< std::string, Parameter >	Parameters
	Parameters stored as a map of string->string. More...

typedef std::vector< ParameterDoc >	ParametersDoc
	The documentation of all parameters. More...

typedef std::set< std::string >	ParametersUsed
	Parameters whose value has been read. More...

Public Member Functions
virtual DataPoints	filter (const DataPoints &input)
	Apply filters to input point cloud. This is the non-destructive version and returns a copy. More...

virtual void	inPlaceFilter (DataPoints &cloud)
	Apply these filters to a point cloud without copying. More...

	SimpleSensorNoiseDataPointsFilter (const Parameters &params=Parameters())
	Constructor, uses parameter interface. More...

Public Member Functions inherited from PointMatcher< T >::DataPointsFilter
	DataPointsFilter ()
	Construct without parameter. More...

	DataPointsFilter (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with parameters. More...

virtual void	init ()
	Init this filter. More...

virtual	~DataPointsFilter ()
	virtual destructor More...

Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
S	get (const std::string &paramName)
	Return the value of paramName, lexically-casted to S. More...

std::string	getParamValueString (const std::string &paramName)
	Get the value of a parameter, as a string. More...

	Parametrizable ()
	Construct a documentation of parameters from a description in the source. More...

	Parametrizable (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with documented parameters. More...

virtual	~Parametrizable ()
	Virtual destructor, do nothing. More...

Static Public Member Functions
static const ParametersDoc	availableParameters ()

static const std::string	description ()

Static Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
static bool	Comp (std::string a, std::string b)
	Return whether a < b, lexically casted to S. More...

Public Attributes
const T	gain

const unsigned	sensorType

Public Attributes inherited from PointMatcherSupport::Parametrizable
const std::string	className
	name of the class More...

Parameters	parameters
	parameters with their values encoded in string More...

const ParametersDoc	parametersDoc
	documentation of parameters More...

ParametersUsed	parametersUsed
	parameters whose value has actually been read More...

Private Member Functions
Matrix	computeLaserNoise (const T minRadius, const T beamAngle, const T beamConst, const Matrix &features)

Detailed Description

template<typename T>
struct SimpleSensorNoiseDataPointsFilter< T >

Sick LMS-xxx noise model.

Definition at line 41 of file SimpleSensorNoise.h.

Member Typedef Documentation

◆ DataPoints

template<typename T >

typedef PointMatcher<T>::DataPoints SimpleSensorNoiseDataPointsFilter< T >::DataPoints

Definition at line 51 of file SimpleSensorNoise.h.

◆ InvalidField

template<typename T >

typedef PointMatcher<T>::DataPoints::InvalidField SimpleSensorNoiseDataPointsFilter< T >::InvalidField

Definition at line 52 of file SimpleSensorNoise.h.

◆ InvalidParameter

template<typename T >

typedef Parametrizable::InvalidParameter SimpleSensorNoiseDataPointsFilter< T >::InvalidParameter

Definition at line 48 of file SimpleSensorNoise.h.

◆ Matrix

template<typename T >

typedef PointMatcher<T>::Matrix SimpleSensorNoiseDataPointsFilter< T >::Matrix

Definition at line 50 of file SimpleSensorNoise.h.

◆ P

template<typename T >

typedef PointMatcherSupport::Parametrizable SimpleSensorNoiseDataPointsFilter< T >::P

Definition at line 44 of file SimpleSensorNoise.h.

◆ ParameterDoc

template<typename T >

typedef Parametrizable::ParameterDoc SimpleSensorNoiseDataPointsFilter< T >::ParameterDoc

Definition at line 46 of file SimpleSensorNoise.h.

◆ Parameters

template<typename T >

typedef Parametrizable::Parameters SimpleSensorNoiseDataPointsFilter< T >::Parameters

Definition at line 45 of file SimpleSensorNoise.h.

◆ ParametersDoc

template<typename T >

typedef Parametrizable::ParametersDoc SimpleSensorNoiseDataPointsFilter< T >::ParametersDoc

Definition at line 47 of file SimpleSensorNoise.h.

◆ Parametrizable

template<typename T >

typedef PointMatcherSupport::Parametrizable SimpleSensorNoiseDataPointsFilter< T >::Parametrizable

Definition at line 43 of file SimpleSensorNoise.h.

Constructor & Destructor Documentation

◆ SimpleSensorNoiseDataPointsFilter()

template<typename T >

SimpleSensorNoiseDataPointsFilter< T >::SimpleSensorNoiseDataPointsFilter ( const Parameters & params = Parameters() )

Constructor, uses parameter interface.

Definition at line 47 of file SimpleSensorNoise.cpp.

Member Function Documentation

◆ availableParameters()

template<typename T >

static const ParametersDoc SimpleSensorNoiseDataPointsFilter< T >::availableParameters ( )

inlinestatic

Definition at line 59 of file SimpleSensorNoise.h.

◆ computeLaserNoise()

template<typename T >

PointMatcher< T >::Matrix SimpleSensorNoiseDataPointsFilter< T >::computeLaserNoise	(	const T	minRadius,
		const T	beamAngle,
		const T	beamConst,
		const Matrix &	features
	)

private

Parameters

minRadius	in meter, noise level of depth measurements
beamAngle	in rad, half of the total laser beam
beamConst	in meter, minimum size of the laser beam
features	points from the sensor

Definition at line 123 of file SimpleSensorNoise.cpp.

◆ description()

template<typename T >

static const std::string SimpleSensorNoiseDataPointsFilter< T >::description ( )

inlinestatic

Definition at line 54 of file SimpleSensorNoise.h.

◆ filter()

template<typename T >

PointMatcher< T >::DataPoints SimpleSensorNoiseDataPointsFilter< T >::filter ( const DataPoints & input )

virtual

Apply filters to input point cloud. This is the non-destructive version and returns a copy.

Implements PointMatcher< T >::DataPointsFilter.

Definition at line 71 of file SimpleSensorNoise.cpp.

◆ inPlaceFilter()

template<typename T >

void SimpleSensorNoiseDataPointsFilter< T >::inPlaceFilter ( DataPoints & cloud )

virtual

Apply these filters to a point cloud without copying.

Implements PointMatcher< T >::DataPointsFilter.

Definition at line 80 of file SimpleSensorNoise.cpp.

Member Data Documentation

◆ gain

template<typename T >

const T SimpleSensorNoiseDataPointsFilter< T >::gain

Definition at line 68 of file SimpleSensorNoise.h.

◆ sensorType

template<typename T >

const unsigned SimpleSensorNoiseDataPointsFilter< T >::sensorType

Definition at line 67 of file SimpleSensorNoise.h.

The documentation for this struct was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

template<typename T> struct SimpleSensorNoiseDataPointsFilter< T >

Member Typedef Documentation

◆ DataPoints

◆ InvalidField

◆ InvalidParameter

◆ Matrix

◆ P

◆ ParameterDoc

◆ Parameters

◆ ParametersDoc

◆ Parametrizable

Constructor & Destructor Documentation

◆ SimpleSensorNoiseDataPointsFilter()

Member Function Documentation

◆ availableParameters()

◆ computeLaserNoise()

◆ description()

◆ filter()

◆ inPlaceFilter()

Member Data Documentation

◆ gain

◆ sensorType

template<typename T>
struct SimpleSensorNoiseDataPointsFilter< T >