#include <sensor_pointxyz_disparity.h>

Inheritance diagram for g2o::SensorPointXYZDisparity:

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Collaboration diagram for g2o::SensorPointXYZDisparity:

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Public Member Functions
	SensorPointXYZDisparity (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, EdgeSE3PointXYZDisparity, 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, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ >
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
bool	isVisible (WorldObjectType *to)

Protected Member Functions inherited from g2o::BinarySensor< Robot3D, EdgeSE3PointXYZDisparity, 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, EdgeSE3PointXYZDisparity, 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, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ >
typedef Robot3D	RobotType

typedef RobotType::PoseObject	PoseObject

typedef RobotType::TrajectoryType	TrajectoryType

typedef RobotType::PoseObject::VertexType	PoseVertexType

typedef EdgeSE3PointXYZDisparity	EdgeType

typedef WorldObjectTrackXYZ	WorldObjectType

typedef WorldObjectType::VertexType	VertexType

typedef EdgeType::InformationType	InformationType

Detailed Description

Definition at line 35 of file sensor_pointxyz_disparity.h.

Constructor & Destructor Documentation

◆ SensorPointXYZDisparity()

g2o::SensorPointXYZDisparity::SensorPointXYZDisparity ( const std::string & name_ )

Definition at line 36 of file sensor_pointxyz_disparity.cpp.

    : BinarySensor<Robot3D, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ>(
          name_) {
  _offsetParam = 0;
  _information.setIdentity();
  _information *= 1000;
  setInformation(_information);
}

References g2o::BinarySensor< Robot3D, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ >::_information, _offsetParam, and g2o::BinarySensor< Robot3D, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ >::setInformation().

Member Function Documentation

◆ addNoise()

void g2o::SensorPointXYZDisparity::addNoise ( EdgeType * e )

Definition at line 69 of file sensor_pointxyz_disparity.cpp.

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

References g2o::BinarySensor< Robot3D, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ >::_sampler, g2o::GaussianSampler< SampleType, CovarianceType >::generateSample(), and g2o::BinarySensor< Robot3D, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ >::information().

Referenced by sense().

◆ addParameters()

void g2o::SensorPointXYZDisparity::addParameters ( )

virtual

Reimplemented from g2o::BaseSensor.

Definition at line 63 of file sensor_pointxyz_disparity.cpp.

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

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

◆ isVisible()

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

protected

Definition at line 45 of file sensor_pointxyz_disparity.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, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ >::_robotPoseObject, and _sensorPose.

Referenced by sense().

◆ offsetParam()

ParameterSE3Offset * g2o::SensorPointXYZDisparity::offsetParam ( )

inline

Definition at line 45 of file sensor_pointxyz_disparity.h.

45{ return _offsetParam; };

Referenced by main().

◆ sense()

void g2o::SensorPointXYZDisparity::sense ( )

virtual

Reimplemented from g2o::BinarySensor< Robot3D, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ >.

Definition at line 75 of file sensor_pointxyz_disparity.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, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ >::_robotPoseObject, _sensorPose, g2o::OptimizableGraph::addEdge(), addNoise(), g2o::BaseSensor::graph(), g2o::Parameter::id(), isVisible(), g2o::BinarySensor< Robot3D, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ >::mkEdge(), g2o::World::objects(), g2o::ParameterSE3Offset::offset(), g2o::BaseSensor::robot(), and g2o::BaseSensor::world().

Member Data Documentation

◆ _offsetParam

ParameterSE3Offset* g2o::SensorPointXYZDisparity::_offsetParam

protected

Definition at line 51 of file sensor_pointxyz_disparity.h.

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

◆ _sensorPose

RobotPoseType g2o::SensorPointXYZDisparity::_sensorPose

protected

Definition at line 50 of file sensor_pointxyz_disparity.h.

Referenced by isVisible(), and sense().

◆ RobotPoseType

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef PoseVertexType::EstimateType g2o::SensorPointXYZDisparity::RobotPoseType

Definition at line 41 of file sensor_pointxyz_disparity.h.

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

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SensorPointXYZDisparity()

Member Function Documentation

◆ addNoise()

◆ addParameters()

◆ isVisible()

◆ offsetParam()

◆ sense()

Member Data Documentation

◆ _offsetParam

◆ _sensorPose

◆ RobotPoseType