Class OusterProjector

• Defined in File ouster_projector.h

Inheritance Relationships

Base Type

• public wavemap::ProjectorBase (Class ProjectorBase)

Class Documentation

class OusterProjector : public wavemap::ProjectorBase

Public Types

using Config = OusterProjectorConfig

Public Functions

explicit OusterProjector(const Config &config)

virtual Eigen::Matrix<bool, 3, 1> sensorAxisIsPeriodic() const final

inline virtual Eigen::Matrix<bool, 3, 1> sensorAxisCouldBePeriodic() const final

inline virtual SiUnit getImageCoordinatesUnit() const final

inline virtual SensorCoordinates cartesianToSensor(const Point3D &C_point) const final

inline virtual Point3D sensorToCartesian(const SensorCoordinates &coordinates) const final

inline virtual FloatingPoint imageOffsetToErrorSquaredNorm(const ImageCoordinates &linearization_point, const Vector2D &offset) const final

inline virtual std::array<FloatingPoint, 4> imageOffsetsToErrorSquaredNorms(const ImageCoordinates &linearization_point, const CellToBeamOffsetArray &offsets) const final

inline virtual ImageCoordinates cartesianToImage(const Point3D &C_point) const final

inline virtual FloatingPoint cartesianToSensorZ(const Point3D &C_point) const final

virtual AABB<Vector3D> cartesianToSensorAABB(const AABB<Point3D> &W_aabb, const Transformation3D::RotationMatrix &R_C_W, const Point3D &t_W_C) const final