Class ProjectorBase

• Defined in File projector_base.h

Inheritance Relationships

Derived Types

• public wavemap::OusterProjector (Class OusterProjector)

• public wavemap::PinholeCameraProjector (Class PinholeCameraProjector)

• public wavemap::SphericalProjector (Class SphericalProjector)

Class Documentation

class ProjectorBase

Subclassed by wavemap::OusterProjector, wavemap::PinholeCameraProjector, wavemap::SphericalProjector

Public Types

using Ptr = std::shared_ptr<ProjectorBase>

using ConstPtr = std::shared_ptr<const ProjectorBase>

using NearestIndexArray = Eigen::Matrix<IndexElement, 2, 4>

using CellToBeamOffsetArray = Eigen::Matrix<FloatingPoint, 2, 4>

Public Functions

inline ProjectorBase(Index2D dimensions, Vector2D index_to_image_scale_factor, ImageCoordinates image_offset, ImageCoordinates min_image_coordinates, ImageCoordinates max_image_coordinates)

virtual ~ProjectorBase() = default

inline IndexElement getNumRows() const

inline IndexElement getNumColumns() const

inline Index2D getDimensions() const

inline ImageCoordinates getMinImageCoordinates() const

inline ImageCoordinates getMaxImageCoordinates() const

virtual Eigen::Matrix<bool, 3, 1> sensorAxisIsPeriodic() const = 0

virtual Eigen::Matrix<bool, 3, 1> sensorAxisCouldBePeriodic() const = 0

virtual SiUnit getImageCoordinatesUnit() const = 0

virtual SensorCoordinates cartesianToSensor(const Point3D &C_point) const = 0

virtual Point3D sensorToCartesian(const SensorCoordinates &coordinates) const = 0

inline Point3D sensorToCartesian(const ImageCoordinates &image_coordinates, FloatingPoint normal) const

virtual ImageCoordinates cartesianToImage(const Point3D &C_point) const = 0

virtual FloatingPoint cartesianToSensorZ(const Point3D &C_point) const = 0

inline Index2D imageToNearestIndex(const ImageCoordinates &image_coordinates) const

inline Index2D imageToFloorIndex(const ImageCoordinates &image_coordinates) const

inline Index2D imageToCeilIndex(const ImageCoordinates &image_coordinates) const

inline NearestIndexArray imageToNearestIndices(const ImageCoordinates &image_coordinates) const

inline std::pair<Index2D, Vector2D> imageToNearestIndexAndOffset(const ImageCoordinates &image_coordinates) const

inline std::pair<NearestIndexArray, CellToBeamOffsetArray> imageToNearestIndicesAndOffsets(const ImageCoordinates &image_coordinates) const

inline ImageCoordinates indexToImage(const Index2D &index) const

inline FloatingPoint imageOffsetToErrorNorm(const ImageCoordinates &linearization_point, const Vector2D &offset) const

virtual FloatingPoint imageOffsetToErrorSquaredNorm(const ImageCoordinates &linearization_point, const Vector2D &offset) const = 0

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

virtual std::array<FloatingPoint, 4> imageOffsetsToErrorSquaredNorms(const ImageCoordinates &linearization_point, const CellToBeamOffsetArray &offsets) const = 0

inline Index2D cartesianToNearestIndex(const Point3D &C_point) const

virtual AABB<Vector3D> cartesianToSensorAABB(const AABB<Point3D> &W_aabb, const Transformation3D::RotationMatrix &R_C_W, const Point3D &t_W_C) const = 0

Protected Functions

inline Vector2D imageToIndexReal(const ImageCoordinates &image_coordinates) const

Protected Attributes

const Index2D dimensions_

const Vector2D index_to_image_scale_factor_

const Vector2D image_to_index_scale_factor_ = Vector2D::Ones().cwiseQuotient(index_to_image_scale_factor_)

const ImageCoordinates image_offset_

const ImageCoordinates min_image_coordinates_

const ImageCoordinates max_image_coordinates_

Friends

friend class Image2DProjectorTypedTest_imageToNearestIndicesAndOffsets_Test