mesh_filter::StereoCameraModel Class Reference

Model for Disparity based devices. E.g stereo camera systems or OpenNI compatible devices. More...

#include <stereo_camera_model.h>

Inheritance diagram for mesh_filter::StereoCameraModel:

Collaboration diagram for mesh_filter::StereoCameraModel:

Classes
class	Parameters
	Parameters for Stereo-like devices. More...

Static Public Attributes
static const StereoCameraModel::Parameters &	REGISTERED_PSDK_PARAMS
	predefined sensor model for OpenNI compatible devices (e.g., PrimeSense, Kinect, Asus Xtion) More...
static const std::string	RENDER_VERTEX_SHADER_SOURCE
	source code of the vertex shader used to render the meshes More...
static const std::string	RENDER_FRAGMENT_SHADER_SOURCE
	source code of the fragment shader used to render the meshes More...
static const std::string	FILTER_VERTEX_SHADER_SOURCE
	source code of the vertex shader used to filter the depth map More...
static const std::string	FILTER_FRAGMENT_SHADER_SOURCE
	source code of the fragment shader used to filter the depth map More...

Additional Inherited Members
Public Member Functions inherited from mesh_filter::SensorModel
	MOVEIT_CLASS_FORWARD (Parameters)
virtual	~SensorModel ()
	virtual destructor More...

Detailed Description

Model for Disparity based devices. E.g stereo camera systems or OpenNI compatible devices.

Author

Suat Gedikli gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m

Definition at line 50 of file stereo_camera_model.h.

Member Data Documentation

FILTER_FRAGMENT_SHADER_SOURCE

const std::string mesh_filter::StereoCameraModel::FILTER_FRAGMENT_SHADER_SOURCE

static

source code of the fragment shader used to filter the depth map

Definition at line 165 of file stereo_camera_model.h.

FILTER_VERTEX_SHADER_SOURCE

const std::string mesh_filter::StereoCameraModel::FILTER_VERTEX_SHADER_SOURCE

static

Initial value:

=
    "#version 120\n"
    "void main ()"
    "{"
    "     gl_FrontColor = gl_Color;"
    "     gl_TexCoord[0] = gl_MultiTexCoord0;"
    "     gl_Position = gl_Vertex;"
    "  gl_Position.w = 1.0;"
    "}"

source code of the vertex shader used to filter the depth map

Definition at line 162 of file stereo_camera_model.h.

REGISTERED_PSDK_PARAMS

const mesh_filter::StereoCameraModel::Parameters & mesh_filter::StereoCameraModel::REGISTERED_PSDK_PARAMS

static

Initial value:

=
    mesh_filter::StereoCameraModel::Parameters(640, 480, 0.4, 10.0, 525, 525, 319.5, 239.5, 0.075, 0.125)

predefined sensor model for OpenNI compatible devices (e.g., PrimeSense, Kinect, Asus Xtion)

Definition at line 153 of file stereo_camera_model.h.

RENDER_FRAGMENT_SHADER_SOURCE

const std::string mesh_filter::StereoCameraModel::RENDER_FRAGMENT_SHADER_SOURCE

static

Initial value:

= "#version 120\n"
                                                                                  "void main()"
                                                                                  "{"
                                                                                  "  gl_FragColor = gl_Color;"
                                                                                  "}"

source code of the fragment shader used to render the meshes

Definition at line 159 of file stereo_camera_model.h.

RENDER_VERTEX_SHADER_SOURCE

const std::string mesh_filter::StereoCameraModel::RENDER_VERTEX_SHADER_SOURCE

static

Initial value:

=
    "#version 120\n"
    "uniform vec3 padding_coefficients;"
    "void main()"
    "{"
    "  gl_FrontColor = gl_Color;"
    "  gl_BackColor = gl_Color;"
    "  vec4 vertex = gl_ModelViewMatrix * gl_Vertex;"
    "  vec3 normal = normalize(gl_NormalMatrix * gl_Normal);"
    "  float lambda = padding_coefficients.x * vertex.z * vertex.z + padding_coefficients.y * vertex.z + "
    "padding_coefficients.z;"
    "  gl_Position = gl_ProjectionMatrix * (vertex + lambda * vec4(normal,0) );"
    "  gl_Position.y = -gl_Position.y;"
    "}"

source code of the vertex shader used to render the meshes

Definition at line 156 of file stereo_camera_model.h.

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

• moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/stereo_camera_model.h
• moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp