Abstract Interface defining Sensor Parameters. More...

#include <sensor_model.h>

Inheritance diagram for mesh_filter::SensorModel::Parameters:

Public Member Functions
virtual Parameters *	clone () const =0
	polymorphic clone method
float	getFarClippingPlaneDistance () const
	returns the distance to the far clipping plane
unsigned	getHeight () const
	returns the height of depth maps
float	getNearClippingPlaneDistance () const
	returns distance to the near clipping plane
virtual const Eigen::Vector3f &	getPaddingCoefficients () const =0
	returns sensor dependent padding coefficients
unsigned	getWidth () const
	returns the width of depth maps
	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.
void	setDepthRange (float near, float far)
	sets the clipping range
virtual void	setFilterParameters (GLRenderer &renderer) const =0
	sets the specific Filter Renderer parameters
void	setImageSize (unsigned width, unsigned height)
	sets the image size
virtual void	setRenderParameters (GLRenderer &renderer) const =0
	method that sets required parameters for the renderer. Each sensor usually has its own shaders with specific parameters depending on sensor parameters. This method is called within MeshFilter before any rendering/filtering is done to set any changed sensor parameters in the shader code.
virtual void	transformFilteredDepthToMetricDepth (float *depth) const
	transforms depth values from filtered depth to metric depth values
virtual void	transformModelDepthToMetricDepth (float *depth) const
	transforms depth values from rendered model to metric depth values
virtual	~Parameters ()
	virtual destructor
Protected Attributes
float	far_clipping_plane_distance_
	distance of far clipping plane
unsigned	height_
	height of depth maps generated by the sensor
float	near_clipping_plane_distance_
	distance of near clipping plane
unsigned	width_
	width of depth maps generated by the sensor

Detailed Description

Abstract Interface defining Sensor Parameters.

Author:: Suat Gedikli <gedikli@willowgarage.com>

Definition at line 59 of file sensor_model.h.

Constructor & Destructor Documentation

mesh_filter::SensorModel::Parameters::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.

Parameters:

width	width of the image generated by this kind of sensor
height	height of the image generated by this kind of sensors
near_clipping_plane_distance	distance of the near clipping plane in meters
far_clipping_plane_distance	distance of the far clipping plane in meters

Definition at line 45 of file sensor_model.cpp.

mesh_filter::SensorModel::Parameters::~Parameters ( ) [virtual]

virtual destructor

Reimplemented in mesh_filter::StereoCameraModel::Parameters.

Definition at line 53 of file sensor_model.cpp.

Member Function Documentation

virtual Parameters* mesh_filter::SensorModel::Parameters::clone ( ) const [pure virtual]

polymorphic clone method

Returns:: clones object as base class

Implemented in mesh_filter::StereoCameraModel::Parameters.

float mesh_filter::SensorModel::Parameters::getFarClippingPlaneDistance ( ) const

returns the distance to the far clipping plane

Returns:: distance to far clipping plane

Definition at line 90 of file sensor_model.cpp.

unsigned mesh_filter::SensorModel::Parameters::getHeight ( ) const

returns the height of depth maps

Returns:: height of the depth map

Definition at line 80 of file sensor_model.cpp.

float mesh_filter::SensorModel::Parameters::getNearClippingPlaneDistance ( ) const

returns distance to the near clipping plane

Returns:: distance to near clipping plane

Definition at line 85 of file sensor_model.cpp.

virtual const Eigen::Vector3f& mesh_filter::SensorModel::Parameters::getPaddingCoefficients ( ) const [pure virtual]

returns sensor dependent padding coefficients

Returns:: returns sensor dependent padding coefficients

Implemented in mesh_filter::StereoCameraModel::Parameters.

unsigned mesh_filter::SensorModel::Parameters::getWidth ( ) const

returns the width of depth maps

Returns:: width of the depth map

Definition at line 75 of file sensor_model.cpp.

void mesh_filter::SensorModel::Parameters::setDepthRange	(	float	near,
		float	far
	)

sets the clipping range

Parameters:

[in]	near	distance of near clipping plane
[in]	far	distance of far clipping plane

Definition at line 63 of file sensor_model.cpp.

virtual void mesh_filter::SensorModel::Parameters::setFilterParameters ( GLRenderer & renderer ) const [pure virtual]

sets the specific Filter Renderer parameters

Parameters:

renderer renderer the renderer that needs to be updated

Implemented in mesh_filter::StereoCameraModel::Parameters.

void mesh_filter::SensorModel::Parameters::setImageSize	(	unsigned	width,
		unsigned	height
	)

sets the image size

Parameters:

[in]	width	with of depth map
[in]	height	height of depth map

Definition at line 57 of file sensor_model.cpp.

virtual void mesh_filter::SensorModel::Parameters::setRenderParameters ( GLRenderer & renderer ) const [pure virtual]

method that sets required parameters for the renderer. Each sensor usually has its own shaders with specific parameters depending on sensor parameters. This method is called within MeshFilter before any rendering/filtering is done to set any changed sensor parameters in the shader code.

Parameters:

renderer the renderer that needs to be updated

Implemented in mesh_filter::StereoCameraModel::Parameters.

void mesh_filter::SensorModel::Parameters::transformFilteredDepthToMetricDepth ( float * depth ) const [virtual]

transforms depth values from filtered depth to metric depth values

Parameters:

[in,out] depth pointer to floating point depth buffer

Definition at line 173 of file sensor_model.cpp.

void mesh_filter::SensorModel::Parameters::transformModelDepthToMetricDepth ( float * depth ) const [virtual]

transforms depth values from rendered model to metric depth values

Parameters:

[in,out] depth pointer to floating point depth buffer