stereo_camera_model.hpp

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/* Author: Suat Gedikli */
 
#pragma once
 
#include <moveit/mesh_filter/sensor_model.hpp>
#include <string>
 
#include <moveit_mesh_filter_export.h>
 
namespace mesh_filter
{
class MOVEIT_MESH_FILTER_EXPORT StereoCameraModel : public SensorModel
{
public:
  class Parameters : public SensorModel::Parameters
  {
  public:
    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);
    ~Parameters() override;

    SensorModel::Parameters* clone() const override;

    void setRenderParameters(GLRenderer& renderer) const override;

    void setFilterParameters(GLRenderer& renderer) const override;

    void setCameraParameters(float fx, float fy, float cx, float cy);

    void setBaseline(float base_line);

    void setDisparityResolution(float disparity_resolution);

    const Eigen::Vector3f& getPaddingCoefficients() const override;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  private:
    float fx_;

    float fy_;

    float cx_;

    float cy_;

    float base_line_;

    float disparity_resolution_;

    const Eigen::Vector3f padding_coefficients_;
  };

  static const StereoCameraModel::Parameters& REGISTERED_PSDK_PARAMS;  // NOLINT(readability-identifier-naming)

  static const std::string RENDER_VERTEX_SHADER_SOURCE;

  static const std::string RENDER_FRAGMENT_SHADER_SOURCE;

  static const std::string FILTER_VERTEX_SHADER_SOURCE;

  static const std::string FILTER_FRAGMENT_SHADER_SOURCE;
};
}  // namespace mesh_filter