Abstract Interface defining Sensor Parameters. More...

#include <sensor_model.h>

Inheritance diagram for mesh_filter::SensorModel::Parameters:

Public Member Functions
	Parameters (unsigned width, unsigned height, float near_clipping_plane_distance, float far_clipping_plane_distance)
	Constructor taking core parameters that are required for all sensors.

virtual	~Parameters ()
	virtual destructor

virtual void	setRenderParameters (GLRenderer &renderer) const =0
	method that sets required parameters for the renderer. Each sensor usually has its own shaders with specific parameters depending on sensor parameters. This method is called within MeshFilter before any rendering/filtering is done to set any changed sensor parameters in the shader code.

virtual void	setFilterParameters (GLRenderer &renderer) const =0
	sets the specific Filter Renderer parameters

virtual Parameters *	clone () const =0
	polymorphic clone method

virtual const Eigen::Vector3f &	getPaddingCoefficients () const =0
	returns sensor dependent padding coefficients

virtual void	transformModelDepthToMetricDepth (float *depth) const
	transforms depth values from rendered model to metric depth values

virtual void	transformFilteredDepthToMetricDepth (float *depth) const
	transforms depth values from filtered depth to metric depth values

void	setImageSize (unsigned width, unsigned height)
	sets the image size

void	setDepthRange (float near, float far)
	sets the clipping range

unsigned	getWidth () const
	returns the width of depth maps

unsigned	getHeight () const
	returns the height of depth maps

float	getNearClippingPlaneDistance () const
	returns distance to the near clipping plane

float	getFarClippingPlaneDistance () const
	returns the distance to the far clipping plane

Protected Attributes
unsigned	width_
	width of depth maps generated by the sensor

unsigned	height_
	height of depth maps generated by the sensor

float	far_clipping_plane_distance_
	distance of far clipping plane

float	near_clipping_plane_distance_
	distance of near clipping plane

Detailed Description

Abstract Interface defining Sensor Parameters.

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 sensor_model.h.

Constructor & Destructor Documentation

◆ Parameters()

mesh_filter::SensorModel::Parameters::Parameters	(	unsigned	width,
		unsigned	height,
		float	near_clipping_plane_distance,
		float	far_clipping_plane_distance
	)

Constructor taking core parameters that are required for all sensors.

Parameters

width	width of the image generated by this kind of sensor
height	height of the image generated by this kind of sensors
near_clipping_plane_distance	distance of the near clipping plane in meters
far_clipping_plane_distance	distance of the far clipping plane in meters

Definition at line 42 of file sensor_model.cpp.

◆ ~Parameters()

mesh_filter::SensorModel::Parameters::~Parameters ( )

virtualdefault

virtual destructor

Reimplemented in mesh_filter::StereoCameraModel::Parameters.

Member Function Documentation

◆ clone()

virtual Parameters * mesh_filter::SensorModel::Parameters::clone ( ) const

pure virtual

polymorphic clone method

Returns: clones object as base class

Implemented in mesh_filter::StereoCameraModel::Parameters.

◆ getFarClippingPlaneDistance()

float mesh_filter::SensorModel::Parameters::getFarClippingPlaneDistance ( ) const

returns the distance to the far clipping plane

Returns: distance to far clipping plane

Definition at line 86 of file sensor_model.cpp.

◆ getHeight()

unsigned mesh_filter::SensorModel::Parameters::getHeight ( ) const

returns the height of depth maps

Returns: height of the depth map

Definition at line 76 of file sensor_model.cpp.

◆ getNearClippingPlaneDistance()

float mesh_filter::SensorModel::Parameters::getNearClippingPlaneDistance ( ) const

returns distance to the near clipping plane

Returns: distance to near clipping plane

Definition at line 81 of file sensor_model.cpp.

◆ getPaddingCoefficients()

virtual const Eigen::Vector3f & mesh_filter::SensorModel::Parameters::getPaddingCoefficients ( ) const

pure virtual

returns sensor dependent padding coefficients

Returns: returns sensor dependent padding coefficients

Implemented in mesh_filter::StereoCameraModel::Parameters.

◆ getWidth()

unsigned mesh_filter::SensorModel::Parameters::getWidth ( ) const

returns the width of depth maps

Returns: width of the depth map

Definition at line 71 of file sensor_model.cpp.

◆ setDepthRange()

void mesh_filter::SensorModel::Parameters::setDepthRange	(	float	near,
		float	far
	)

sets the clipping range

Parameters

[in]	near	distance of near clipping plane
[in]	far	distance of far clipping plane

Definition at line 59 of file sensor_model.cpp.

◆ setFilterParameters()

virtual void mesh_filter::SensorModel::Parameters::setFilterParameters ( GLRenderer & renderer ) const

pure virtual

sets the specific Filter Renderer parameters

Parameters

renderer renderer the renderer that needs to be updated

Implemented in mesh_filter::StereoCameraModel::Parameters.

◆ setImageSize()

void mesh_filter::SensorModel::Parameters::setImageSize	(	unsigned	width,
		unsigned	height
	)

sets the image size

Parameters

[in]	width	with of depth map
[in]	height	height of depth map

Definition at line 53 of file sensor_model.cpp.

◆ setRenderParameters()

virtual void mesh_filter::SensorModel::Parameters::setRenderParameters ( GLRenderer & renderer ) const

pure virtual

method that sets required parameters for the renderer. Each sensor usually has its own shaders with specific parameters depending on sensor parameters. This method is called within MeshFilter before any rendering/filtering is done to set any changed sensor parameters in the shader code.

Parameters

renderer the renderer that needs to be updated

Implemented in mesh_filter::StereoCameraModel::Parameters.

◆ transformFilteredDepthToMetricDepth()

void mesh_filter::SensorModel::Parameters::transformFilteredDepthToMetricDepth ( float * depth ) const

virtual

transforms depth values from filtered depth to metric depth values

Parameters

[in,out] depth pointer to floating point depth buffer

Definition at line 181 of file sensor_model.cpp.

◆ transformModelDepthToMetricDepth()

void mesh_filter::SensorModel::Parameters::transformModelDepthToMetricDepth ( float * depth ) const

virtual

transforms depth values from rendered model to metric depth values

Parameters

[in,out] depth pointer to floating point depth buffer

Definition at line 105 of file sensor_model.cpp.

Member Data Documentation

◆ far_clipping_plane_distance_

float mesh_filter::SensorModel::Parameters::far_clipping_plane_distance_

protected

distance of far clipping plane

Definition at line 160 of file sensor_model.h.

◆ height_

unsigned mesh_filter::SensorModel::Parameters::height_

protected

height of depth maps generated by the sensor

Definition at line 157 of file sensor_model.h.

◆ near_clipping_plane_distance_

float mesh_filter::SensorModel::Parameters::near_clipping_plane_distance_

protected

distance of near clipping plane

Definition at line 163 of file sensor_model.h.

◆ width_

unsigned mesh_filter::SensorModel::Parameters::width_

protected

width of depth maps generated by the sensor

Definition at line 154 of file sensor_model.h.

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

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Parameters()

◆ ~Parameters()

Member Function Documentation

◆ clone()

◆ getFarClippingPlaneDistance()

◆ getHeight()

◆ getNearClippingPlaneDistance()

◆ getPaddingCoefficients()

◆ getWidth()

◆ setDepthRange()

◆ setFilterParameters()

◆ setImageSize()

◆ setRenderParameters()

◆ transformFilteredDepthToMetricDepth()

◆ transformModelDepthToMetricDepth()

Member Data Documentation

◆ far_clipping_plane_distance_

◆ height_

◆ near_clipping_plane_distance_

◆ width_