cob_3d_mapping::FieldOfView Class Reference

#include <field_of_view.h>

List of all members.

Public Member Functions
void	computeFieldOfView ()
	calculates coordinate system from parameters
	FieldOfView ()
void	getFOV (Eigen::Vector3d &p_0, Eigen::Vector3d &p_1, Eigen::Vector3d &p_2, Eigen::Vector3d &p_3, Eigen::Vector3d &p_4)
	Return the FOV.
void	setSensorFoV_hor (double val)
	Set the horizontal FOV angle of the camera (degree).
void	setSensorFoV_ver (double val)
	Set the vertical FOV angle of the camera (degree).
void	setSensorMaxRange (double val)
	Set the maximum range of the camera (meter).
void	transformFOV (Eigen::Affine3d &t)
	uses global transformation (of the robot) to recalculate the field of view
	~FieldOfView ()
Protected Attributes
Eigen::Vector3d	p_0_
	maximum range of sensor
Eigen::Vector3d	p_0_cam_
	part of view frustum
Eigen::Vector3d	p_1_
	part of view frustum
Eigen::Vector3d	p_1_cam_
	part of view frustum
Eigen::Vector3d	p_2_
	part of view frustum
Eigen::Vector3d	p_2_cam_
	part of view frustum
Eigen::Vector3d	p_3_
	part of view frustum
Eigen::Vector3d	p_3_cam_
	part of view frustum
Eigen::Vector3d	p_4_
	part of view frustum
Eigen::Vector3d	p_4_cam_
	part of view frustum
double	sensor_fov_hor_
double	sensor_fov_ver_
	horizontal angle of sensor
double	sensor_max_range_
	vertical angle of sensor

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Detailed Description

Definition at line 76 of file field_of_view.h.

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Constructor & Destructor Documentation

cob_3d_mapping::FieldOfView::FieldOfView

(

)

[inline]

Constructor

Definition at line 80 of file field_of_view.h.

cob_3d_mapping::FieldOfView::~FieldOfView

(

)

[inline]

Empty Destructor

void

Definition at line 87 of file field_of_view.h.

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Member Function Documentation

void FieldOfView::computeFieldOfView

(

)

calculates coordinate system from parameters

calculates coordinate system from parameters

Returns:

nothing

Definition at line 67 of file field_of_view.cpp.

void cob_3d_mapping::FieldOfView::getFOV	(	Eigen::Vector3d &	p_0,
		Eigen::Vector3d &	p_1,
		Eigen::Vector3d &	p_2,
		Eigen::Vector3d &	p_3,
		Eigen::Vector3d &	p_4
	)		[inline]

Return the FOV.

Parameters:

[out]	p_0	Origin point.
[out]	p_1	First corner point of the frustum far plane.
[out]	p_2	Second corner point of the frustum far plane.
[out]	p_3	Third corner point of the frustum far plane.
[out]	p_4	Forth corner point of the frustum far plane.

Definition at line 136 of file field_of_view.h.

void cob_3d_mapping::FieldOfView::setSensorFoV_hor

(

double

val

)

[inline]

Set the horizontal FOV angle of the camera (degree).

Parameters:

[in]

val

The angle in degree.

Definition at line 98 of file field_of_view.h.

void cob_3d_mapping::FieldOfView::setSensorFoV_ver

(

double

val

)

[inline]

Set the vertical FOV angle of the camera (degree).

Parameters:

[in]

val

The angle in degree.

Definition at line 109 of file field_of_view.h.

void cob_3d_mapping::FieldOfView::setSensorMaxRange

(

double

val

)

[inline]

Set the maximum range of the camera (meter).

Parameters:

[in]

val

The maximum range in meter.

Definition at line 120 of file field_of_view.h.

void cob_3d_mapping::FieldOfView::transformFOV

(

Eigen::Affine3d &

t

)

[inline]

uses global transformation (of the robot) to recalculate the field of view

uses global transformation (of the robot) to recalculate the field of view (all vectors)

Parameters:

stamp	timestamp indicating used frame
target_frame	targetframe

Returns:

nothing

Definition at line 167 of file field_of_view.h.

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Member Data Documentation

Eigen::Vector3d cob_3d_mapping::FieldOfView::p_0_ [protected]

maximum range of sensor

Definition at line 181 of file field_of_view.h.

Eigen::Vector3d cob_3d_mapping::FieldOfView::p_0_cam_ [protected]

part of view frustum

Definition at line 187 of file field_of_view.h.

Eigen::Vector3d cob_3d_mapping::FieldOfView::p_1_ [protected]

part of view frustum

Definition at line 182 of file field_of_view.h.

Eigen::Vector3d cob_3d_mapping::FieldOfView::p_1_cam_ [protected]

part of view frustum

Definition at line 188 of file field_of_view.h.

Eigen::Vector3d cob_3d_mapping::FieldOfView::p_2_ [protected]

part of view frustum

Definition at line 183 of file field_of_view.h.

Eigen::Vector3d cob_3d_mapping::FieldOfView::p_2_cam_ [protected]

part of view frustum

Definition at line 189 of file field_of_view.h.

Eigen::Vector3d cob_3d_mapping::FieldOfView::p_3_ [protected]

part of view frustum

Definition at line 184 of file field_of_view.h.

Eigen::Vector3d cob_3d_mapping::FieldOfView::p_3_cam_ [protected]

part of view frustum

Definition at line 190 of file field_of_view.h.

Eigen::Vector3d cob_3d_mapping::FieldOfView::p_4_ [protected]

part of view frustum

Definition at line 185 of file field_of_view.h.

Eigen::Vector3d cob_3d_mapping::FieldOfView::p_4_cam_ [protected]

part of view frustum

Definition at line 191 of file field_of_view.h.

double cob_3d_mapping::FieldOfView::sensor_fov_hor_ [protected]

Definition at line 177 of file field_of_view.h.

double cob_3d_mapping::FieldOfView::sensor_fov_ver_ [protected]

horizontal angle of sensor

Definition at line 178 of file field_of_view.h.

double cob_3d_mapping::FieldOfView::sensor_max_range_ [protected]

vertical angle of sensor

Definition at line 179 of file field_of_view.h.

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

• field_of_view.h
• field_of_view.cpp