Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes
cob_3d_mapping::PrimeSense Class Reference

Sensor model for PrimeSense cameras. More...

#include <sensor_model.h>

List of all members.

Public Types

typedef Eigen::Map< const
Eigen::Matrix< float,
4, 4, Eigen::RowMajor > > 
MatMap

Public Member Functions

 PrimeSense ()
 Empty constructor.
 ~PrimeSense ()
 Empty destructor.

Static Public Member Functions

static bool areNeighbors (float query, float neighbor, float tolerance=2.0f)
static bool areNeighbors (const Eigen::Vector3f &query, const Eigen::Vector3f &neighbor, float tolerance=4.0f)
static Eigen::Matrix4f tf_unit_cube ()

Static Public Attributes

static const float aspect = PrimeSense::w / PrimeSense::h
static const float b = - PrimeSense::t
 bottom
static const float f = 5.0f
 far plane
static const float fov_h = 49.0f / 180.0f * M_PI
 fov horizontal (IR) , from wiki and ros.org
static const float fov_v = 43.0f / 180.0f * M_PI
 fov vertical (IR)
static const float h = 480.0f
static const float l = - PrimeSense::r
 left
static const float mat []
static const float n = 0.5f
 near plane
static const float r = PrimeSense::n * tan(PrimeSense::fov_h * 0.5f)
 right
static const float t = PrimeSense::n * tan(PrimeSense::fov_v * 0.5f)
 top
static const float w = 640.0f

Detailed Description

Sensor model for PrimeSense cameras.

Definition at line 75 of file sensor_model.h.


Member Typedef Documentation

typedef Eigen::Map<const Eigen::Matrix<float,4,4,Eigen::RowMajor> > cob_3d_mapping::PrimeSense::MatMap

Definition at line 78 of file sensor_model.h.


Constructor & Destructor Documentation

Empty constructor.

Definition at line 83 of file sensor_model.h.

Empty destructor.

Definition at line 87 of file sensor_model.h.


Member Function Documentation

static bool cob_3d_mapping::PrimeSense::areNeighbors ( float  query,
float  neighbor,
float  tolerance = 2.0f 
) [inline, static]

Definition at line 98 of file sensor_model.h.

static bool cob_3d_mapping::PrimeSense::areNeighbors ( const Eigen::Vector3f &  query,
const Eigen::Vector3f &  neighbor,
float  tolerance = 4.0f 
) [inline, static]

Definition at line 116 of file sensor_model.h.

static Eigen::Matrix4f cob_3d_mapping::PrimeSense::tf_unit_cube ( ) [inline, static]

Definition at line 126 of file sensor_model.h.


Member Data Documentation

Definition at line 139 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::b = - PrimeSense::t [static]

bottom

Definition at line 136 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::f = 5.0f [static]

far plane

Definition at line 131 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::fov_h = 49.0f / 180.0f * M_PI [static]

fov horizontal (IR) , from wiki and ros.org

Definition at line 129 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::fov_v = 43.0f / 180.0f * M_PI [static]

fov vertical (IR)

Definition at line 130 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::h = 480.0f [static]

Definition at line 138 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::l = - PrimeSense::r [static]

left

Definition at line 133 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::mat [static]
Initial value:
  {
    1.0f / ( PrimeSense::aspect * tan(0.5f * PrimeSense::fov_h) ),
    0,
    0,
    0,

    0,
    1.0f / ( tan(0.5f * PrimeSense::fov_h) ),
    0,
    0,

    0,
    0,
    (PrimeSense::n + PrimeSense::f) / (PrimeSense::n - PrimeSense::f),
    -2.0f * PrimeSense::f * PrimeSense::n / (PrimeSense::n - PrimeSense::f),

    0,
    0,
    1,
    0
  }

Definition at line 140 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::n = 0.5f [static]

near plane

Definition at line 132 of file sensor_model.h.

right

Definition at line 134 of file sensor_model.h.

top

Definition at line 135 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::w = 640.0f [static]

Definition at line 137 of file sensor_model.h.


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


cob_3d_mapping_common
Author(s): Georg Arbeiter
autogenerated on Wed Aug 26 2015 11:02:19