Parameters for Stereo-like devices. More...

#include <stereo_camera_model.h>

Inheritance diagram for mesh_filter::StereoCameraModel::Parameters:

Collaboration diagram for mesh_filter::StereoCameraModel::Parameters:

Public Member Functions
	Parameters (unsigned width, unsigned height, float near_clipping_plane_distance, float far_clipping_plane_distance, float fx, float fy, float cx, float cy, float base_line, float disparity_resolution)
	Constructor.

	~Parameters () override
	Descturctor.

SensorModel::Parameters *	clone () const override
	polymorphic clone method

void	setRenderParameters (GLRenderer &renderer) const override
	set the shader parameters required for the model rendering

void	setFilterParameters (GLRenderer &renderer) const override
	set the shader parameters required for the mesh filtering

void	setCameraParameters (float fx, float fy, float cx, float cy)
	sets the camera parameters of the pinhole camera where the disparities were obtained. Usually the left camera

void	setBaseline (float base_line)
	sets the base line = distance of the two projective devices (camera, projector-camera)

void	setDisparityResolution (float disparity_resolution)
	the quantization of disparity values in pixels. Usually 1/16th or 1/8th for OpenNI compatible devices

const Eigen::Vector3f &	getPaddingCoefficients () const override
	returns the coefficients that are required for obtaining the padding for meshes

Public Member Functions inherited from 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.

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

Additional Inherited Members
Protected Attributes inherited from mesh_filter::SensorModel::Parameters
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

Parameters for Stereo-like 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 57 of file stereo_camera_model.h.

Constructor & Destructor Documentation

◆ Parameters()

mesh_filter::StereoCameraModel::Parameters::Parameters	(	unsigned	width,
		unsigned	height,
		float	near_clipping_plane_distance,
		float	far_clipping_plane_distance,
		float	fx,
		float	fy,
		float	cx,
		float	cy,
		float	base_line,
		float	disparity_resolution
	)

Constructor.

Parameters

[in]	width	width of generated depth maps from this device
[in]	height	height of generated depth maps from this device
[in]	near_clipping_plane_distance	distance of near clipping plane
[in]	far_clipping_plane_distance	distance of far clipping plene
[in]	fx	focal length in x-direction
[in]	fy	focal length in y-direction
[in]	cx	x component of principal point
[in]	cy	y component of principal point
[in]	base_line	the distance in meters used to determine disparity values
[in]	disparity_resolution	resolution/quantization of disparity values in pixels

Definition at line 40 of file stereo_camera_model.cpp.

◆ ~Parameters()

mesh_filter::StereoCameraModel::Parameters::~Parameters ( )

overridevirtualdefault

Descturctor.

Reimplemented from mesh_filter::SensorModel::Parameters.

Member Function Documentation

◆ clone()

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

overridevirtual

polymorphic clone method

Returns: deep copied Parameters of type StereoCameraModel::Parameters

Implements mesh_filter::SensorModel::Parameters.

Definition at line 57 of file stereo_camera_model.cpp.

◆ getPaddingCoefficients()

const Eigen::Vector3f & mesh_filter::StereoCameraModel::Parameters::getPaddingCoefficients ( ) const

overridevirtual

returns the coefficients that are required for obtaining the padding for meshes

Returns: the padding coefficients

Implements mesh_filter::SensorModel::Parameters.

Definition at line 94 of file stereo_camera_model.cpp.

◆ setBaseline()

void mesh_filter::StereoCameraModel::Parameters::setBaseline ( float base_line )

sets the base line = distance of the two projective devices (camera, projector-camera)

Parameters

[in] base_line the distance in meters

Definition at line 71 of file stereo_camera_model.cpp.

◆ setCameraParameters()

void mesh_filter::StereoCameraModel::Parameters::setCameraParameters	(	float	fx,
		float	fy,
		float	cx,
		float	cy
	)

sets the camera parameters of the pinhole camera where the disparities were obtained. Usually the left camera

Parameters

[in]	fx	focal length in x-direction
[in]	fy	focal length in y-direction
[in]	cx	x component of principal point
[in]	cy	y component of principal point

Definition at line 63 of file stereo_camera_model.cpp.

◆ setDisparityResolution()

void mesh_filter::StereoCameraModel::Parameters::setDisparityResolution ( float disparity_resolution )

the quantization of disparity values in pixels. Usually 1/16th or 1/8th for OpenNI compatible devices

Parameters

disparity_resolution

Definition at line 76 of file stereo_camera_model.cpp.

◆ setFilterParameters()

void mesh_filter::StereoCameraModel::Parameters::setFilterParameters ( GLRenderer & renderer ) const

overridevirtual

set the shader parameters required for the mesh filtering

Parameters

[in] renderer the renderer that holds the filtering shader

Implements mesh_filter::SensorModel::Parameters.

Definition at line 99 of file stereo_camera_model.cpp.

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◆ setRenderParameters()

void mesh_filter::StereoCameraModel::Parameters::setRenderParameters ( GLRenderer & renderer ) const

overridevirtual

set the shader parameters required for the model rendering

Parameters

[in] renderer the renderer that holds the rendering shader.

Implements mesh_filter::SensorModel::Parameters.

Definition at line 81 of file stereo_camera_model.cpp.

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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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Parameters()

◆ ~Parameters()

Member Function Documentation

◆ clone()

◆ getPaddingCoefficients()

◆ setBaseline()

◆ setCameraParameters()

◆ setDisparityResolution()

◆ setFilterParameters()

◆ setRenderParameters()