sensor_model.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Suat Gedikli */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <Eigen/Core>  // for Vector3f
 
namespace mesh_filter
{
// forward declarations
class GLRenderer;
 
class SensorModel
{
public:
  MOVEIT_CLASS_FORWARD(Parameters);  // Defines ParametersPtr, ConstPtr, WeakPtr... etc
 
  class Parameters
  {
  public:
    Parameters(unsigned width, unsigned height, float near_clipping_plane_distance, float far_clipping_plane_distance);
 
    virtual ~Parameters();
 
    virtual void setRenderParameters(GLRenderer& renderer) const = 0;
 
    virtual void setFilterParameters(GLRenderer& renderer) const = 0;
 
    virtual Parameters* clone() const = 0;
 
    virtual const Eigen::Vector3f& getPaddingCoefficients() const = 0;
 
    virtual void transformModelDepthToMetricDepth(double* depth) const;
 
    virtual void transformFilteredDepthToMetricDepth(double* depth) const;
 
    void setImageSize(unsigned width, unsigned height);
 
    void setDepthRange(float near, float far);
 
    unsigned getWidth() const;
 
    unsigned getHeight() const;
 
    float getNearClippingPlaneDistance() const;
 
    float getFarClippingPlaneDistance() const;
 
  protected:
    unsigned width_;
 
    unsigned height_;
 
    float far_clipping_plane_distance_;
 
    float near_clipping_plane_distance_;
  };
 
  virtual ~SensorModel();
};
}  // namespace mesh_filter