MeshFilter filters out points that belong to given meshes in depth-images. More...

#include <mesh_filter.h>

Inheritance diagram for mesh_filter::MeshFilter< SensorType >:

Collaboration diagram for mesh_filter::MeshFilter< SensorType >:

Public Member Functions
	MOVEIT_DECLARE_PTR_MEMBER (MeshFilter)

	MeshFilter (const TransformCallback &transform_callback=TransformCallback(), const typename SensorType::Parameters &sensor_parameters=typename SensorType::Parameters())
	Constructor.

SensorType::Parameters &	parameters ()
	returns the Sensor Parameters

const SensorType::Parameters &	parameters () const
	returns the Sensor Parameters

Public Member Functions inherited from mesh_filter::MeshFilterBase
	MeshFilterBase (const TransformCallback &transform_callback, const SensorModel::Parameters &sensor_parameters, const std::string &render_vertex_shader="", const std::string &render_fragment_shader="", const std::string &filter_vertex_shader="", const std::string &filter_fragment_shader="")
	Constructor.

	~MeshFilterBase ()
	Destructor.

MeshHandle	addMesh (const shapes::Mesh &mesh)
	adds a mesh to the filter object.

void	removeMesh (MeshHandle mesh_handle)
	removes a mesh given by its handle

void	filter (const void *sensor_data, GLushort type, bool wait=false) const
	label/remove pixels from input depth-image

void	getFilteredLabels (LabelType *labels) const
	retrieves the labels of the input data

void	getFilteredDepth (float *depth) const
	retrieves the filtered depth values

void	getModelLabels (LabelType *labels) const
	retrieves the labels of the rendered model

void	getModelDepth (float *depth) const
	retrieves the depth values of the rendered model

void	setShadowThreshold (float threshold)
	set the shadow threshold. points that are further away than the rendered model are filtered out. Except they are further away than this threshold. Then these points are kept, but its label is set to 1 indicating that it is in the shadow of the model

void	setTransformCallback (const TransformCallback &transform_callback)
	set the callback for retrieving transformations for each mesh.

void	setPaddingScale (float scale)
	set the scale component of padding used to multiply with sensor-specific padding coefficients to get final coefficients.

void	setPaddingOffset (float offset)
	set the offset component of padding. This value is added to the scaled sensor-specific constant component.

Additional Inherited Members
Public Types inherited from mesh_filter::MeshFilterBase
enum	{ BACKGROUND = 0 , SHADOW = 1 , NEAR_CLIP = 2 , FAR_CLIP = 3 , FIRST_LABEL = 16 }

typedef std::function< bool(MeshHandle, Eigen::Isometry3d &)>	TransformCallback

Protected Member Functions inherited from mesh_filter::MeshFilterBase
void	initialize (const std::string &render_vertex_shader, const std::string &render_fragment_shader, const std::string &filter_vertex_shader, const std::string &filter_fragment_shader)
	initializes OpenGL related things as well as renderers

void	deInitialize ()
	cleaning up

void	run (const std::string &render_vertex_shader, const std::string &render_fragment_shader, const std::string &filter_vertex_shader, const std::string &filter_fragment_shader)
	filtering thread

void	doFilter (const void *sensor_data, const int encoding) const
	the filter method that does the magic

void	addMeshHelper (MeshHandle handle, const shapes::Mesh &cmesh)
	used within a Job to allow the main thread adding meshes

bool	removeMeshHelper (MeshHandle handle)
	used within a Job to allow the main thread removing meshes

void	addJob (const JobPtr &job) const
	add a Job for the main thread that needs to be executed there

void	setSize (unsigned int width, unsigned int height)
	sets the size of the frame buffers

Protected Attributes inherited from mesh_filter::MeshFilterBase
std::map< MeshHandle, GLMeshPtr >	meshes_
	storage for meshed to be filtered

SensorModel::ParametersPtr	sensor_parameters_
	the parameters of the used sensor model

MeshHandle	next_handle_
	next handle to be used for next mesh that is added

MeshHandle	min_handle_
	Handle values below this are all taken (this variable is used for more efficient computation of next_label_)

std::thread	filter_thread_
	the filtering thread that also holds the OpenGL context

std::condition_variable	jobs_condition_
	condition variable to notify the filtering thread if a new image arrived

std::mutex	jobs_mutex_
	mutex required for synchronization of condition states

std::queue< JobPtr >	jobs_queue_
	OpenGL job queue that need to be processed by the worker thread.

std::mutex	meshes_mutex_
	mutex for synchronization of updating filtered meshes

std::mutex	transform_callback_mutex_
	mutex for synchronization of setting/calling transform_callback_

bool	stop_
	indicates whether the filtering loop should stop

GLRendererPtr	mesh_renderer_
	first pass renderer for rendering the mesh

GLRendererPtr	depth_filter_
	second pass renderer for filtering the results of first pass

GLuint	canvas_
	canvas element (screen-filling quad) for second pass

GLuint	sensor_depth_texture_
	handle depth texture from sensor data

GLuint	shadow_threshold_location_
	handle to GLSL location of shadow threshold

TransformCallback	transform_callback_
	callback function for retrieving the mesh transformations

float	padding_scale_
	padding scale

float	padding_offset_
	padding offset

float	shadow_threshold_
	threshold for shadowed pixels vs. filtered pixels

Detailed Description

template<typename SensorType>
class mesh_filter::MeshFilter< SensorType >

MeshFilter filters out points that belong to given meshes in depth-images.

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 60 of file mesh_filter.h.

Constructor & Destructor Documentation

◆ MeshFilter()

template<typename SensorType >

mesh_filter::MeshFilter< SensorType >::MeshFilter	(	const TransformCallback &	transform_callback = `TransformCallback()`,
		const typename SensorType::Parameters &	sensor_parameters = `typename SensorType::Parameters()`
	)

Constructor.

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

[in] transform_callback Callback function that is called for each mesh to obtain the current transformation.

Note: the callback expects the mesh handle but no time stamp. Its the users responsibility to return the correct transformation.

Definition at line 91 of file mesh_filter.h.

Member Function Documentation

◆ MOVEIT_DECLARE_PTR_MEMBER()

template<typename SensorType >

mesh_filter::MeshFilter< SensorType >::MOVEIT_DECLARE_PTR_MEMBER ( MeshFilter< SensorType > )

◆ parameters() [1/2]

template<typename SensorType >

SensorType::Parameters & mesh_filter::MeshFilter< SensorType >::parameters ( )

returns the Sensor Parameters

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Returns: reference of the parameters object of the used Sensor

Definition at line 100 of file mesh_filter.h.

◆ parameters() [2/2]

template<typename SensorType >

const SensorType::Parameters & mesh_filter::MeshFilter< SensorType >::parameters ( ) const

returns the Sensor Parameters

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Returns: const reference of the parameters object of the used Sensor

Definition at line 106 of file mesh_filter.h.

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MeshFilter()

Member Function Documentation

◆ MOVEIT_DECLARE_PTR_MEMBER()

◆ parameters() [1/2]

◆ parameters() [2/2]