sensor_model.h
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00034 
00035 /* Author: Suat Gedikli */
00036 
00037 #ifndef MOVEIT_MESH_FILTER_SENSOR_MODEL_
00038 #define MOVEIT_MESH_FILTER_SENSOR_MODEL_
00039 
00040 #include <Eigen/Eigen>
00041 
00042 namespace mesh_filter
00043 {
00044 
00045 //forward declarations
00046 class GLRenderer;
00047 
00052 class SensorModel
00053 {
00054 public:
00059   class Parameters
00060   {
00061   public:
00069     Parameters (unsigned width, unsigned height, float near_clipping_plane_distance, float far_clipping_plane_distance);
00070 
00072     virtual ~Parameters ();
00073 
00081     virtual void setRenderParameters (GLRenderer& renderer) const = 0;
00082 
00087     virtual void setFilterParameters (GLRenderer& renderer) const = 0;
00088 
00093     virtual Parameters* clone () const = 0;
00094 
00099     virtual const Eigen::Vector3f& getPaddingCoefficients () const = 0;
00100 
00105     virtual void transformModelDepthToMetricDepth (float* depth) const;
00106 
00111     virtual void transformFilteredDepthToMetricDepth (float* depth) const;
00112 
00118     void setImageSize (unsigned width, unsigned height);
00119 
00125     void setDepthRange (float near, float far);
00126 
00131     unsigned getWidth () const;
00132 
00137     unsigned getHeight () const;
00138 
00143     float getNearClippingPlaneDistance () const;
00144 
00149     float getFarClippingPlaneDistance () const;
00150 
00151   protected:
00153     unsigned width_;
00154 
00156     unsigned height_;
00157 
00159     float far_clipping_plane_distance_;
00160 
00162     float near_clipping_plane_distance_;
00163   };
00164 
00168   virtual ~SensorModel ();
00169 };
00170 } // namespace mesh_filter
00171 
00172 #endif


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Wed Aug 26 2015 12:43:21