Parameters for Stereo-like devices. More...

#include <stereo_camera_model.h>

Inheritance diagram for mesh_filter::StereoCameraModel::Parameters:

Public Member Functions
SensorModel::Parameters *	clone () const override
	polymorphic clone method More...

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

	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. More...

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

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 More...

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

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

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

	~Parameters () override
	Descturctor. More...

Public Member Functions inherited from mesh_filter::SensorModel::Parameters
float	getFarClippingPlaneDistance () const
	returns the distance to the far clipping plane More...

unsigned	getHeight () const
	returns the height of depth maps More...

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

unsigned	getWidth () const
	returns the width of depth maps More...

	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. More...

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

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

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

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

Private Attributes
float	base_line_
	distance of the two projective devices that are used to determine the disparities More...

float	cx_
	x component of principal point More...

float	cy_
	y component of principal point More...

float	disparity_resolution_
	resolution/quantization of disparity values More...

float	fx_
	focal length in x-direction More...

float	fy_
	focal length in y-direction More...

const Eigen::Vector3f	padding_coefficients_
	padding coefficients More...

Additional Inherited Members
Protected Attributes inherited from mesh_filter::SensorModel::Parameters
float	far_clipping_plane_distance_
	distance of far clipping plane More...

unsigned	height_
	height of depth maps generated by the sensor More...

float	near_clipping_plane_distance_
	distance of near clipping plane More...

unsigned	width_
	width of depth maps generated by the sensor More...

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 119 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.

◆ 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.

Member Data Documentation

◆ base_line_

float mesh_filter::StereoCameraModel::Parameters::base_line_

private

distance of the two projective devices that are used to determine the disparities

Definition at line 234 of file stereo_camera_model.h.

◆ cx_

float mesh_filter::StereoCameraModel::Parameters::cx_

private

x component of principal point

Definition at line 228 of file stereo_camera_model.h.

◆ cy_

float mesh_filter::StereoCameraModel::Parameters::cy_

private

y component of principal point

Definition at line 231 of file stereo_camera_model.h.

◆ disparity_resolution_

float mesh_filter::StereoCameraModel::Parameters::disparity_resolution_

private

resolution/quantization of disparity values

Definition at line 237 of file stereo_camera_model.h.

◆ fx_

float mesh_filter::StereoCameraModel::Parameters::fx_

private

focal length in x-direction

Definition at line 222 of file stereo_camera_model.h.

◆ fy_

float mesh_filter::StereoCameraModel::Parameters::fy_

private

focal length in y-direction

Definition at line 225 of file stereo_camera_model.h.

◆ padding_coefficients_

const Eigen::Vector3f mesh_filter::StereoCameraModel::Parameters::padding_coefficients_

private

padding coefficients

Note: absolute padding in meters = coeff[0] * z^2 + coeff[1] * z + coeff[2]

Definition at line 243 of file stereo_camera_model.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Parameters()

◆ ~Parameters()

Member Function Documentation

◆ clone()

◆ getPaddingCoefficients()

◆ setBaseline()

◆ setCameraParameters()

◆ setDisparityResolution()

◆ setFilterParameters()

◆ setRenderParameters()

Member Data Documentation

◆ base_line_

◆ cx_

◆ cy_

◆ disparity_resolution_

◆ fx_

◆ fy_

◆ padding_coefficients_