SimpleSensorNoiseDataPointsFilter<T>::SimpleSensorNoiseDataPointsFilter(const Parameters& params):
PointMatcher<T>::DataPointsFilter("SimpleSensorNoiseDataPointsFilter",
SimpleSensorNoiseDataPointsFilter::availableParameters(), params),
sensorType(Parametrizable::get<unsigned>("sensorType")),
gain(Parametrizable::get<T>("gain"))
{
std::vector<std::string> sensorNames = boost::assign::list_of ("Sick LMS-1xx")("Hokuyo URG-04LX")("Hokuyo UTM-30LX")("Kinect / Xtion")("Sick Tim3xx");
if (sensorType >= sensorNames.size())
{
throw InvalidParameter(
(boost::format("SimpleSensorNoiseDataPointsFilter: Error, sensorType id %1% does not exist.") % sensorType).str());
}
LOG_INFO_STREAM("SimpleSensorNoiseDataPointsFilter - using sensor noise model: " << sensorNames[sensorType]);
}
T PointMatcher<T>::ErrorMinimizer::getOverlap() const
{
LOG_INFO_STREAM("ErrorMinimizer - warning, no specific method to compute overlap was provided for the ErrorMinimizer used.");
return weightedPointUsedRatio;
}
typename PointMatcher<T>::Matrix PointMatcher<T>::ErrorMinimizer::getCovariance() const
{
LOG_INFO_STREAM("ErrorMinimizer - warning, no specific method to compute covariance was provided for the ErrorMinimizer used.");
return Matrix::Zero(6,6);
}
