g2o::SensorPointXYZ Class Reference

#include <sensor_pointxyz.h>

Inheritance diagram for g2o::SensorPointXYZ:

Collaboration diagram for g2o::SensorPointXYZ:

Public Member Functions
	SensorPointXYZ (const std::string &name_)
virtual void	sense ()
virtual void	addParameters ()
ParameterSE3Offset *	offsetParam ()
void	addNoise (EdgeType *e)
Public Member Functions inherited from g2o::PointSensorParameters
	PointSensorParameters ()
double	maxRange () const
void	setMaxRange (double maxRange_)
double	minRange () const
void	setMinRange (double minRange_)
double	fov () const
void	setFov (double fov_)
double	maxAngularDifference () const
void	setMaxAngularDifference (double angularDifference)
Public Member Functions inherited from g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >
	BinarySensor (const std::string &name)
void	setInformation (const InformationType &information_)
const InformationType &	information ()
Public Member Functions inherited from g2o::BaseSensor
	BaseSensor (const std::string &name_)
BaseRobot *	robot ()
void	setRobot (BaseRobot *robot_)
World *	world () const
OptimizableGraph *	graph () const
const std::vector< Parameter * > &	parameters ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef PoseVertexType::EstimateType	RobotPoseType
Public Attributes inherited from g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
bool	isVisible (WorldObjectType *to)
Protected Member Functions inherited from g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >
EdgeType *	mkEdge (WorldObjectType *object)
virtual void	addNoise (EdgeType *)

Protected Attributes
RobotPoseType	_sensorPose
ParameterSE3Offset *	_offsetParam
Protected Attributes inherited from g2o::PointSensorParameters
double	_maxRange2
double	_minRange2
double	_fov
double	_maxAngularDifference
Protected Attributes inherited from g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >
PoseObject *	_robotPoseObject
InformationType	_information
GaussianSampler< typename EdgeType::ErrorVector, InformationType >	_sampler
Protected Attributes inherited from g2o::BaseSensor
std::string	_name
std::vector< Parameter * >	_parameters
BaseRobot *	_robot

Additional Inherited Members
Public Types inherited from g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >
typedef Robot3D	RobotType
typedef RobotType::PoseObject	PoseObject
typedef RobotType::TrajectoryType	TrajectoryType
typedef RobotType::PoseObject::VertexType	PoseVertexType
typedef EdgeSE3PointXYZ	EdgeType
typedef WorldObjectTrackXYZ	WorldObjectType
typedef WorldObjectType::VertexType	VertexType
typedef EdgeType::InformationType	InformationType

Detailed Description

Definition at line 35 of file sensor_pointxyz.h.

Constructor & Destructor Documentation

SensorPointXYZ()

g2o::SensorPointXYZ::SensorPointXYZ

(

const std::string &

name_

)

Definition at line 36 of file sensor_pointxyz.cpp.

    : BinarySensor<Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ>(name_) {
  _offsetParam = 0;
  _information.setIdentity();
  _information *= 1000;
  _information(2, 2) = 10;
  setInformation(_information);
}

References g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >::_information, _offsetParam, and g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >::setInformation().

Member Function Documentation

addNoise()

void g2o::SensorPointXYZ::addNoise

(

EdgeType *

e

)

Definition at line 68 of file sensor_pointxyz.cpp.

                                         {
  EdgeType::ErrorVector n = _sampler.generateSample();
  e->setMeasurement(e->measurement() + n);
  e->setInformation(information());
}

References g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >::_sampler, g2o::GaussianSampler< SampleType, CovarianceType >::generateSample(), and g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >::information().

Referenced by sense().

addParameters()

void g2o::SensorPointXYZ::addParameters ( )

virtual

Reimplemented from g2o::BaseSensor.

Definition at line 62 of file sensor_pointxyz.cpp.

                                   {
  if (!_offsetParam) _offsetParam = new ParameterSE3Offset();
  assert(world());
  world()->addParameter(_offsetParam);
}

References _offsetParam, g2o::World::addParameter(), and g2o::BaseSensor::world().

isVisible()

bool g2o::SensorPointXYZ::isVisible ( WorldObjectType *  to )

protected

Definition at line 45 of file sensor_pointxyz.cpp.

                                                                {
  if (!_robotPoseObject) return false;
  assert(to && to->vertex());
  VertexType* v = to->vertex();
  VertexType::EstimateType pose = v->estimate();
  VertexType::EstimateType delta = _sensorPose.inverse() * pose;
  Vector3d translation = delta;
  double range2 = translation.squaredNorm();
  if (range2 > _maxRange2) return false;
  if (range2 < _minRange2) return false;
  translation.normalize();
  // the cameras have the z in front
  double bearing = acos(translation.z());
  if (fabs(bearing) > _fov) return false;
  return true;
}

References g2o::PointSensorParameters::_fov, g2o::PointSensorParameters::_maxRange2, g2o::PointSensorParameters::_minRange2, g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >::_robotPoseObject, and _sensorPose.

Referenced by sense().

offsetParam()

ParameterSE3Offset * g2o::SensorPointXYZ::offsetParam ( )

inline

Definition at line 44 of file sensor_pointxyz.h.

{ return _offsetParam; };

Referenced by main().

sense()

void g2o::SensorPointXYZ::sense ( )

virtual

Reimplemented from g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >.

Definition at line 74 of file sensor_pointxyz.cpp.

                           {
  if (!_offsetParam) {
    return;
  }
  _robotPoseObject = 0;
  RobotType* r = dynamic_cast<RobotType*>(robot());
  std::list<PoseObject*>::reverse_iterator it = r->trajectory().rbegin();
  int count = 0;
  while (it != r->trajectory().rend() && count < 1) {
    if (!_robotPoseObject) _robotPoseObject = *it;
    ++it;
    count++;
  }
  if (!_robotPoseObject) return;
  _sensorPose = _robotPoseObject->vertex()->estimate() * _offsetParam->offset();
  for (std::set<BaseWorldObject*>::iterator it = world()->objects().begin();
       it != world()->objects().end(); ++it) {
    WorldObjectType* o = dynamic_cast<WorldObjectType*>(*it);
    if (o && isVisible(o)) {
      EdgeType* e = mkEdge(o);
      if (e && graph()) {
        e->setParameterId(0, _offsetParam->id());
        graph()->addEdge(e);
        e->setMeasurementFromState();
        addNoise(e);
      }
    }
  }
}

References _offsetParam, g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >::_robotPoseObject, _sensorPose, g2o::OptimizableGraph::addEdge(), addNoise(), g2o::BaseSensor::graph(), g2o::Parameter::id(), isVisible(), g2o::BinarySensor< Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ >::mkEdge(), g2o::World::objects(), g2o::ParameterSE3Offset::offset(), g2o::BaseSensor::robot(), and g2o::BaseSensor::world().

Member Data Documentation

_offsetParam

ParameterSE3Offset* g2o::SensorPointXYZ::_offsetParam

protected

Definition at line 50 of file sensor_pointxyz.h.

Referenced by addParameters(), sense(), and SensorPointXYZ().

_sensorPose

RobotPoseType g2o::SensorPointXYZ::_sensorPose

protected

Definition at line 49 of file sensor_pointxyz.h.

Referenced by isVisible(), and sense().

RobotPoseType

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef PoseVertexType::EstimateType g2o::SensorPointXYZ::RobotPoseType

Definition at line 40 of file sensor_pointxyz.h.

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

• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz.h
• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_pointxyz.cpp