Abstract class for image sensors. More...

#include <ASensor.h>

Inheritance diagram for isae::ImageSensor:

[legend]

Collaboration diagram for isae::ImageSensor:

Public Member Functions
	ImageSensor ()

	~ImageSensor ()

bool	hasDepth ()

virtual Eigen::Vector3d	getRayCamera (Eigen::Vector2d f)=0
	Get the ray in camera coordinates. More...

virtual Eigen::Vector3d	getRay (Eigen::Vector2d f)=0
	Get the ray in world coordinates. More...

virtual double	getFocal ()=0
	Compute the focal length of the camera. More...

cv::Mat	getRawData ()

void	setPyr (const std::vector< cv::Mat > &img_pyr)

const std::vector< cv::Mat >	getPyr ()

void	applyCLAHE (float clahe_clip)
	Apply CLAHE (Contrast Limited Adaptive Histogram Equalization) to the image. More...

void	histogramEqualization ()
	Apply histogram equalization to the image. More...

void	imageNormalization ()
	Apply Image normalization to the image. More...

void	applyAGCWD (float alpha)
	Apply adaptive gamme correction. More...

void	setMask (cv::Mat mask)

cv::Mat	getMask ()

Eigen::Matrix3d	getCalibration ()

void	addFeature (std::string feature_label, std::shared_ptr< AFeature > f)
	Add a single feature and compute its bearing vector. More...

void	addFeatures (std::string feature_label, std::vector< std::shared_ptr< AFeature >> features)
	Add a vector of features and compute their bearing vectors. More...

void	removeFeature (std::shared_ptr< AFeature > f)

typed_vec_features &	getFeatures ()

void	purgeFeatures (std::string feature_label)
	Clear all features of a specific type. More...

std::vector< std::shared_ptr< AFeature > > &	getFeatures (std::string feature_label)
	Get features of a specific type. More...

virtual bool	project (const Eigen::Affine3d &T_w_lmk, const std::shared_ptr< AModel3d > ldmk_model, std::vector< Eigen::Vector2d > &p2d_vector)=0
	Virtual function to project a landmark in the image plane. More...

virtual bool	project (const Eigen::Affine3d &T_w_lmk, const std::shared_ptr< AModel3d > ldmk_model, const Eigen::Affine3d &T_f_w, std::vector< Eigen::Vector2d > &p2d_vector)=0
	Virtual function to project a landmark in the image plane with the pose of the frame. More...

virtual bool	project (const Eigen::Affine3d &T_w_lmk, const Eigen::Affine3d &T_f_w, const Eigen::Matrix2d sqrt_info, Eigen::Vector2d &p2d, double J_proj_frame, double J_proj_lmk)=0
	Virtual function to project a landmark and compute the Jacobian of the projection. More...

Public Member Functions inherited from isae::ASensor
	ASensor (std::string type)

	~ASensor ()

std::string	getType ()

void	setFrame (std::shared_ptr< Frame > frame)

std::shared_ptr< Frame >	getFrame ()

void	setFrame2SensorTransform (Eigen::Affine3d T_s_f)

Eigen::Affine3d	getFrame2SensorTransform ()

Eigen::Affine3d	getWorld2SensorTransform ()

Eigen::Affine3d	getSensor2WorldTransform ()

Protected Attributes
Eigen::Matrix3d	_calibration
	intrinsic matrix of the camera (sensor ?) More...

cv::Mat	_raw_data
	Raw image data. More...

std::vector< cv::Mat >	_img_pyr
	Image pyramid for multi-scale processing. More...

cv::Mat	_mask
	Mask to ignore. More...

typed_vec_features	_features
	Typed vector of features. More...

bool	_has_depth
	Is it a RGBD ? More...

std::mutex	_cam_mtx

Protected Attributes inherited from isae::ASensor
std::weak_ptr< Frame >	_frame

Eigen::Affine3d	_T_s_f

std::string	_type

std::mutex	_sensor_mtx

Detailed Description

Abstract class for image sensors.

This class inherits from ASensor and provides additional functionalities specific to image sensors. It includes methods for handling depth data, image pyramids, feature extraction, and projection. It has also all the methods to apply image processing techniques such as CLAHE, histogram equalization etc...

Constructor & Destructor Documentation

◆ ImageSensor()

isae::ImageSensor::ImageSensor ( )

inline

◆ ~ImageSensor()

isae::ImageSensor::~ImageSensor ( )

inline

Member Function Documentation

◆ addFeature()

void isae::ImageSensor::addFeature	(	std::string	feature_label,
		std::shared_ptr< AFeature >	f
	)

Add a single feature and compute its bearing vector.

◆ addFeatures()

void isae::ImageSensor::addFeatures	(	std::string	feature_label,
		std::vector< std::shared_ptr< AFeature >>	features
	)

Add a vector of features and compute their bearing vectors.

◆ applyAGCWD()

void isae::ImageSensor::applyAGCWD ( float alpha )

Apply adaptive gamme correction.

◆ applyCLAHE()

void isae::ImageSensor::applyCLAHE ( float clahe_clip )

Apply CLAHE (Contrast Limited Adaptive Histogram Equalization) to the image.

◆ getCalibration()

Eigen::Matrix3d isae::ImageSensor::getCalibration ( )

inline

◆ getFeatures() [1/2]

typed_vec_features& isae::ImageSensor::getFeatures ( )

inline

◆ getFeatures() [2/2]

std::vector< std::shared_ptr< AFeature > > & isae::ImageSensor::getFeatures ( std::string feature_label )

Get features of a specific type.

◆ getFocal()

virtual double isae::ImageSensor::getFocal ( )

pure virtual

Compute the focal length of the camera.

Virtual function because it depends on the camera model.

Implemented in isae::Omni, isae::Camera, isae::DoubleSphere, and isae::Fisheye.

◆ getMask()

cv::Mat isae::ImageSensor::getMask ( )

inline

◆ getPyr()

const std::vector<cv::Mat> isae::ImageSensor::getPyr ( )

inline

◆ getRawData()

cv::Mat isae::ImageSensor::getRawData ( )

inline

◆ getRay()

virtual Eigen::Vector3d isae::ImageSensor::getRay ( Eigen::Vector2d f )

pure virtual

Get the ray in world coordinates.

Implemented in isae::Omni, isae::Camera, isae::DoubleSphere, and isae::Fisheye.

◆ getRayCamera()

virtual Eigen::Vector3d isae::ImageSensor::getRayCamera ( Eigen::Vector2d f )

pure virtual

Get the ray in camera coordinates.

Implemented in isae::Omni, isae::Camera, isae::DoubleSphere, and isae::Fisheye.

◆ hasDepth()

bool isae::ImageSensor::hasDepth ( )

inline

◆ histogramEqualization()

void isae::ImageSensor::histogramEqualization ( )

Apply histogram equalization to the image.

◆ imageNormalization()

void isae::ImageSensor::imageNormalization ( )

Apply Image normalization to the image.

◆ project() [1/3]

virtual bool isae::ImageSensor::project	(	const Eigen::Affine3d &	T_w_lmk,
		const Eigen::Affine3d &	T_f_w,
		const Eigen::Matrix2d	sqrt_info,
		Eigen::Vector2d &	p2d,
		double *	J_proj_frame,
		double *	J_proj_lmk
	)

pure virtual

Virtual function to project a landmark and compute the Jacobian of the projection.

Implemented in isae::Omni, isae::Camera, isae::DoubleSphere, and isae::Fisheye.

◆ project() [2/3]

virtual bool isae::ImageSensor::project	(	const Eigen::Affine3d &	T_w_lmk,
		const std::shared_ptr< AModel3d >	ldmk_model,
		const Eigen::Affine3d &	T_f_w,
		std::vector< Eigen::Vector2d > &	p2d_vector
	)

pure virtual

Virtual function to project a landmark in the image plane with the pose of the frame.

Implemented in isae::Omni, isae::Camera, isae::DoubleSphere, and isae::Fisheye.

◆ project() [3/3]

virtual bool isae::ImageSensor::project	(	const Eigen::Affine3d &	T_w_lmk,
		const std::shared_ptr< AModel3d >	ldmk_model,
		std::vector< Eigen::Vector2d > &	p2d_vector
	)

pure virtual

Virtual function to project a landmark in the image plane.

Implemented in isae::Omni, isae::Camera, isae::DoubleSphere, and isae::Fisheye.

◆ purgeFeatures()

void isae::ImageSensor::purgeFeatures ( std::string feature_label )

inline

Clear all features of a specific type.

◆ removeFeature()

void isae::ImageSensor::removeFeature ( std::shared_ptr< AFeature > f )

◆ setMask()

void isae::ImageSensor::setMask ( cv::Mat mask )

inline

◆ setPyr()

void isae::ImageSensor::setPyr ( const std::vector< cv::Mat > & img_pyr )

inline

Member Data Documentation

◆ _calibration

Eigen::Matrix3d isae::ImageSensor::_calibration

protected

intrinsic matrix of the camera (sensor ?)

◆ _cam_mtx

std::mutex isae::ImageSensor::_cam_mtx

protected

◆ _features

typed_vec_features isae::ImageSensor::_features

protected

Typed vector of features.

◆ _has_depth

bool isae::ImageSensor::_has_depth

protected

Is it a RGBD ?

◆ _img_pyr

std::vector<cv::Mat> isae::ImageSensor::_img_pyr

protected

Image pyramid for multi-scale processing.

◆ _mask

cv::Mat isae::ImageSensor::_mask

protected

Mask to ignore.

◆ _raw_data

cv::Mat isae::ImageSensor::_raw_data

protected

Raw image data.

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

/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/sensors/ASensor.h
/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/data/sensors/ASensor.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImageSensor()

◆ ~ImageSensor()

Member Function Documentation

◆ addFeature()

◆ addFeatures()

◆ applyAGCWD()

◆ applyCLAHE()

◆ getCalibration()

◆ getFeatures() [1/2]

◆ getFeatures() [2/2]

◆ getFocal()

◆ getMask()

◆ getPyr()

◆ getRawData()

◆ getRay()

◆ getRayCamera()

◆ hasDepth()

◆ histogramEqualization()

◆ imageNormalization()

◆ project() [1/3]

◆ project() [2/3]

◆ project() [3/3]

◆ purgeFeatures()

◆ removeFeature()

◆ setMask()

◆ setPyr()

Member Data Documentation

◆ _calibration

◆ _cam_mtx

◆ _features

◆ _has_depth

◆ _img_pyr

◆ _mask

◆ _raw_data