sensor_model.hpp

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/* Author: Suat Gedikli */
 
#pragma once
 
#include <moveit/macros/class_forward.hpp>
#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(float* depth) const;
 
    virtual void transformFilteredDepthToMetricDepth(float* 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