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48 class StereoCameraModel :
public SensorModel
55 class Parameters :
public SensorModel::Parameters
71 Parameters(
unsigned width,
unsigned height,
float near_clipping_plane_distance,
float far_clipping_plane_distance,
72 float fx,
float fy,
float cx,
float cy,
float base_line,
float disparity_resolution);
122 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
void setDisparityResolution(float disparity_resolution)
the quantization of disparity values in pixels. Usually 1/16th or 1/8th for OpenNI compatible devices
static const std::string FILTER_VERTEX_SHADER_SOURCE
source code of the vertex shader used to filter the depth map
static const std::string FILTER_FRAGMENT_SHADER_SOURCE
source code of the fragment shader used to filter the depth map
Abstracts the OpenGL frame buffer objects, and provides an interface to render meshes,...
void setRenderParameters(GLRenderer &renderer) const override
set the shader parameters required for the model rendering
float disparity_resolution_
resolution/quantization of disparity values
void setFilterParameters(GLRenderer &renderer) const override
set the shader parameters required for the mesh filtering
static const std::string RENDER_FRAGMENT_SHADER_SOURCE
source code of the fragment shader used to render the meshes
float cx_
x component of principal point
float fy_
focal length in y-direction
Abstract Interface defining Sensor Parameters.
SensorModel::Parameters * clone() const override
polymorphic clone method
const Eigen::Vector3f padding_coefficients_
padding coefficients
void setCameraParameters(float fx, float fy, float cx, float cy)
sets the camera parameters of the pinhole camera where the disparities were obtained....
static const std::string RENDER_VERTEX_SHADER_SOURCE
source code of the vertex shader used to render the meshes
const Eigen::Vector3f & getPaddingCoefficients() const override
returns the coefficients that are required for obtaining the padding for meshes
static const StereoCameraModel::Parameters & REGISTERED_PSDK_PARAMS
predefined sensor model for OpenNI compatible devices (e.g., PrimeSense, Kinect, Asus Xtion)
void setBaseline(float base_line)
sets the base line = distance of the two projective devices (camera, projector-camera)
~Parameters() override
Descturctor.
float cy_
y component of principal point
float base_line_
distance of the two projective devices that are used to determine the disparities
float fx_
focal length in x-direction
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 for Stereo-like devices.
perception
Author(s): Ioan Sucan
, Jon Binney , Suat Gedikli
autogenerated on Mon May 27 2024 02:27:57