#include <mesh_filter_base.h>

Inheritance diagram for mesh_filter::MeshFilterBase:

[legend]

Public Types
enum	{ BACKGROUND = 0 , SHADOW = 1 , NEAR_CLIP = 2 , FAR_CLIP = 3 , FIRST_LABEL = 16 }

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

Public Member Functions
	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.

Protected Member Functions
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
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

Definition at line 63 of file mesh_filter_base.h.

Member Typedef Documentation

◆ TransformCallback

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

Definition at line 67 of file mesh_filter_base.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
BACKGROUND
SHADOW
NEAR_CLIP
FAR_CLIP
FIRST_LABEL

Definition at line 71 of file mesh_filter_base.h.

Constructor & Destructor Documentation

◆ MeshFilterBase()

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.

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 54 of file mesh_filter_base.cpp.

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◆ ~MeshFilterBase()

mesh_filter::MeshFilterBase::~MeshFilterBase ( )

Destructor.

Definition at line 123 of file mesh_filter_base.cpp.

Member Function Documentation

◆ addJob()

void mesh_filter::MeshFilterBase::addJob ( const JobPtr & job ) const

protected

add a Job for the main thread that needs to be executed there

Parameters

[in] job the job object that has the function o be executed

Definition at line 138 of file mesh_filter_base.cpp.

◆ addMesh()

mesh_filter::MeshHandle mesh_filter::MeshFilterBase::addMesh ( const shapes::Mesh & mesh )

adds a mesh to the filter object.

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

Parameters

[in] mesh the mesh to be added

Returns: handle to the mesh. This handle is used in the transform callback function to identify the mesh and retrieve the correct transformation.

Definition at line 172 of file mesh_filter_base.cpp.

◆ addMeshHelper()

void mesh_filter::MeshFilterBase::addMeshHelper	(	MeshHandle	handle,
		const shapes::Mesh &	cmesh
	)

protected

used within a Job to allow the main thread adding meshes

Parameters

[in]	handle	the handle of the mesh that is predetermined and passed
[in]	cmesh	the mesh to be added to the corresponding handle

Definition at line 193 of file mesh_filter_base.cpp.

◆ deInitialize()

void mesh_filter::MeshFilterBase::deInitialize ( )

protected

cleaning up

Definition at line 147 of file mesh_filter_base.cpp.

◆ doFilter()

void mesh_filter::MeshFilterBase::doFilter	(	const void *	sensor_data,
		const int	encoding
	)		const

protected

the filter method that does the magic

Parameters

[in]	sensor_data	pointer to the buffer containing the depth readings
[in]	encoding	the representation of the depth readings in the buffer

Definition at line 310 of file mesh_filter_base.cpp.

◆ filter()

void mesh_filter::MeshFilterBase::filter	(	const void *	sensor_data,
		GLushort	type,
		bool	wait = `false`
	)		const

label/remove pixels from input depth-image

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

Parameters

[in] sensor_data pointer to the input depth image from sensor readings.

Todo:: what is type?

Definition at line 295 of file mesh_filter_base.cpp.

◆ getFilteredDepth()

void mesh_filter::MeshFilterBase::getFilteredDepth ( float * depth ) const

retrieves the filtered depth values

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

Parameters

[out] depth pointer to buffer to be filled with depth values.

Definition at line 246 of file mesh_filter_base.cpp.

◆ getFilteredLabels()

void mesh_filter::MeshFilterBase::getFilteredLabels ( LabelType * labels ) const

retrieves the labels of the input data

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

Parameters

[out] labels pointer to buffer to be filled with labels

Note: labels are corresponding 1-1 to the mesh handles. 0 and 1 are reserved indicating either background (0) or shadow (1) The upper 8bit of a label is filled with the user given flag (see addMesh)

Definition at line 261 of file mesh_filter_base.cpp.

◆ getModelDepth()

void mesh_filter::MeshFilterBase::getModelDepth ( float * depth ) const

retrieves the depth values of the rendered model

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

Parameters

[out] depth pointer to buffer to be filled with depth values.

Definition at line 230 of file mesh_filter_base.cpp.

◆ getModelLabels()

void mesh_filter::MeshFilterBase::getModelLabels ( LabelType * labels ) const

retrieves the labels of the rendered model

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

Parameters

[out] labels pointer to buffer to be filled with labels

Note: labels are corresponding 1-1 to the mesh handles. 0 and 1 are reserved indicating either background (0) or shadow (1) The upper 8bit of a label is filled with the user given flag (see addMesh)

Todo:: How is this data different from the filtered labels?

Definition at line 222 of file mesh_filter_base.cpp.

◆ initialize()

void mesh_filter::MeshFilterBase::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
	)

protected

initializes OpenGL related things as well as renderers

Definition at line 75 of file mesh_filter_base.cpp.

◆ removeMesh()

void mesh_filter::MeshFilterBase::removeMesh ( MeshHandle mesh_handle )

removes a mesh given by its handle

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

Parameters

[in] mesh_handle the handle of the mesh to be removed.

Definition at line 198 of file mesh_filter_base.cpp.

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◆ removeMeshHelper()

bool mesh_filter::MeshFilterBase::removeMeshHelper ( MeshHandle handle )

protected

used within a Job to allow the main thread removing meshes

Parameters

[in] handle the handle of the mesh to be removed

Definition at line 211 of file mesh_filter_base.cpp.

◆ run()

void mesh_filter::MeshFilterBase::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
	)

protected

filtering thread

Definition at line 269 of file mesh_filter_base.cpp.

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◆ setPaddingOffset()

void mesh_filter::MeshFilterBase::setPaddingOffset ( float offset )

set the offset component of padding. This value is added to the scaled sensor-specific constant component.

Parameters

[in] offset the offset value

Definition at line 398 of file mesh_filter_base.cpp.

◆ setPaddingScale()

void mesh_filter::MeshFilterBase::setPaddingScale ( float scale )

set the scale component of padding used to multiply with sensor-specific padding coefficients to get final coefficients.

Parameters

[in] scale the scale value

Definition at line 403 of file mesh_filter_base.cpp.

◆ setShadowThreshold()

void mesh_filter::MeshFilterBase::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

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

Parameters

[in] threshold shadow threshold in meters

Definition at line 217 of file mesh_filter_base.cpp.

◆ setSize()

void mesh_filter::MeshFilterBase::setSize	(	unsigned int	width,
		unsigned int	height
	)

protected

sets the size of the frame buffers

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

Parameters

[in]	width	width of frame buffers in pixels
[in]	height	height of frame buffers in pixels

Definition at line 157 of file mesh_filter_base.cpp.

◆ setTransformCallback()

void mesh_filter::MeshFilterBase::setTransformCallback ( const TransformCallback & transform_callback )

set the callback for retrieving transformations for each mesh.

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 the callback

Definition at line 166 of file mesh_filter_base.cpp.

Member Data Documentation

◆ canvas_

GLuint mesh_filter::MeshFilterBase::canvas_

protected

canvas element (screen-filling quad) for second pass

Definition at line 276 of file mesh_filter_base.h.

◆ depth_filter_

GLRendererPtr mesh_filter::MeshFilterBase::depth_filter_

protected

second pass renderer for filtering the results of first pass

Definition at line 273 of file mesh_filter_base.h.

◆ filter_thread_

std::thread mesh_filter::MeshFilterBase::filter_thread_

protected

the filtering thread that also holds the OpenGL context

Definition at line 249 of file mesh_filter_base.h.

◆ jobs_condition_

std::condition_variable mesh_filter::MeshFilterBase::jobs_condition_

mutableprotected

condition variable to notify the filtering thread if a new image arrived

Definition at line 252 of file mesh_filter_base.h.

◆ jobs_mutex_

std::mutex mesh_filter::MeshFilterBase::jobs_mutex_

mutableprotected

mutex required for synchronization of condition states

Definition at line 255 of file mesh_filter_base.h.

◆ jobs_queue_

std::queue<JobPtr> mesh_filter::MeshFilterBase::jobs_queue_

mutableprotected

OpenGL job queue that need to be processed by the worker thread.

Definition at line 258 of file mesh_filter_base.h.

◆ mesh_renderer_

GLRendererPtr mesh_filter::MeshFilterBase::mesh_renderer_

protected

first pass renderer for rendering the mesh

Definition at line 270 of file mesh_filter_base.h.

◆ meshes_

std::map<MeshHandle, GLMeshPtr> mesh_filter::MeshFilterBase::meshes_

protected

storage for meshed to be filtered

Definition at line 236 of file mesh_filter_base.h.

◆ meshes_mutex_

std::mutex mesh_filter::MeshFilterBase::meshes_mutex_

mutableprotected

mutex for synchronization of updating filtered meshes

Definition at line 261 of file mesh_filter_base.h.

◆ min_handle_

MeshHandle mesh_filter::MeshFilterBase::min_handle_

protected

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

Definition at line 246 of file mesh_filter_base.h.

◆ next_handle_

MeshHandle mesh_filter::MeshFilterBase::next_handle_

protected

next handle to be used for next mesh that is added

Definition at line 242 of file mesh_filter_base.h.

◆ padding_offset_

float mesh_filter::MeshFilterBase::padding_offset_

protected

padding offset

Definition at line 291 of file mesh_filter_base.h.

◆ padding_scale_

float mesh_filter::MeshFilterBase::padding_scale_

protected

padding scale

Definition at line 288 of file mesh_filter_base.h.

◆ sensor_depth_texture_

GLuint mesh_filter::MeshFilterBase::sensor_depth_texture_

protected

handle depth texture from sensor data

Definition at line 279 of file mesh_filter_base.h.

◆ sensor_parameters_

SensorModel::ParametersPtr mesh_filter::MeshFilterBase::sensor_parameters_

protected

the parameters of the used sensor model

Definition at line 239 of file mesh_filter_base.h.

◆ shadow_threshold_

float mesh_filter::MeshFilterBase::shadow_threshold_

protected

threshold for shadowed pixels vs. filtered pixels

Definition at line 294 of file mesh_filter_base.h.

◆ shadow_threshold_location_

GLuint mesh_filter::MeshFilterBase::shadow_threshold_location_

protected

handle to GLSL location of shadow threshold

Definition at line 282 of file mesh_filter_base.h.

◆ stop_

bool mesh_filter::MeshFilterBase::stop_

protected

indicates whether the filtering loop should stop

Definition at line 267 of file mesh_filter_base.h.

◆ transform_callback_

TransformCallback mesh_filter::MeshFilterBase::transform_callback_

protected

callback function for retrieving the mesh transformations

Definition at line 285 of file mesh_filter_base.h.

◆ transform_callback_mutex_

std::mutex mesh_filter::MeshFilterBase::transform_callback_mutex_

mutableprotected

mutex for synchronization of setting/calling transform_callback_

Definition at line 264 of file mesh_filter_base.h.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TransformCallback

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ MeshFilterBase()

◆ ~MeshFilterBase()

Member Function Documentation

◆ addJob()

◆ addMesh()

◆ addMeshHelper()

◆ deInitialize()

◆ doFilter()

◆ filter()

◆ getFilteredDepth()

◆ getFilteredLabels()

◆ getModelDepth()

◆ getModelLabels()

◆ initialize()

◆ removeMesh()

◆ removeMeshHelper()

◆ run()

◆ setPaddingOffset()

◆ setPaddingScale()

◆ setShadowThreshold()

◆ setSize()

◆ setTransformCallback()

Member Data Documentation

◆ canvas_

◆ depth_filter_

◆ filter_thread_

◆ jobs_condition_

◆ jobs_mutex_

◆ jobs_queue_

◆ mesh_renderer_

◆ meshes_

◆ meshes_mutex_

◆ min_handle_

◆ next_handle_

◆ padding_offset_

◆ padding_scale_

◆ sensor_depth_texture_

◆ sensor_parameters_

◆ shadow_threshold_

◆ shadow_threshold_location_

◆ stop_

◆ transform_callback_

◆ transform_callback_mutex_