#include <mesh_filter_base.h>

Inheritance diagram for mesh_filter::MeshFilterBase:

Public Types
enum	{ Background = 0, Shadow = 1, NearClip = 2, FarClip = 3, FirstLabel = 16 }
typedef boost::function< bool(MeshHandle, Eigen::Affine3d &)>	TransformCallback
Public Member Functions
MeshHandle	addMesh (const shapes::Mesh &mesh)
	adds a mesh to the filter object.
void	filter (const void *sensor_data, GLushort type, bool wait=false) const
	label/remove pixels from input depth-image
void	getFilteredDepth (float *depth) const
	retrieves the filtered depth values
void	getFilteredLabels (LabelType *labels) const
	retrieves the labels of the input data
void	getModelDepth (float *depth) const
	retrieves the depth values of the rendered model
void	getModelLabels (LabelType *labels) const
	retrieves the labels of the rendered model
	MeshFilterBase (const TransformCallback &transform_callback, const SensorModel::Parameters &sensor_parameters, const std::string &render_vertex_shader="", const std::string &render_fragment_shader="", const std::string &filter_vertex_shader="", const std::string &filter_fragment_shader="")
	Constructor.
void	removeMesh (MeshHandle mesh_handle)
	removes a mesh given by its handle
void	setPaddingOffset (float offset)
	set the offset component of padding. This value is added to the scaled sensor-specific constant component.
void	setPaddingScale (float scale)
	set the scale component of padding used to multiply with sensor-specific padding coefficients to get final coefficients.
void	setShadowThreshold (float threshold)
	set the shadow threshold. points that are further away than the rendered model are filtered out. Except they are further away than this threshold. Then these points are kept, but its label is set to 1 indicating that it is in the shadow of the model
void	setTransformCallback (const TransformCallback &transform_callback)
	set the callback for retrieving transformations for each mesh.
	~MeshFilterBase ()
	Desctructor.
Protected Member Functions
void	addJob (const JobPtr &job) const
	add a Job for the main thread that needs to be executed there
void	addMeshHelper (MeshHandle handle, const shapes::Mesh *cmesh)
	used within a Job to allow the main thread adding meshes
void	deInitialize ()
	cleaning up
void	doFilter (const void *sensor_data, const int encoding) const
	the filter method that does the magic
void	initialize (const std::string &render_vertex_shader, const std::string &render_fragment_shader, const std::string &filter_vertex_shader, const std::string &filter_fragment_shader)
	initializes OpenGL related things as well as renderers
bool	removeMeshHelper (MeshHandle handle)
	used within a Job to allow the main thread removing meshes
void	run (const std::string &render_vertex_shader, const std::string &render_fragment_shader, const std::string &filter_vertex_shader, const std::string &filter_fragment_shader)
	filtering thread
void	setSize (unsigned int width, unsigned int height)
	sets the size of the fram buffers
Protected Attributes
GLuint	canvas_
	canvas element (screen-filling quad) for second pass
GLRendererPtr	depth_filter_
	second pass renderer for filtering the results of first pass
boost::thread	filter_thread_
	the filtering thread that also holds the OpenGL context
boost::condition_variable	jobs_condition_
	condition variable to notify the filtering thread if a new image arrived
boost::mutex	jobs_mutex_
	mutex required for synchronization of condition states
std::queue< JobPtr >	jobs_queue_
	OpenGL job queue that need to be processed by the worker thread.
GLRendererPtr	mesh_renderer_
	first pass renderer for rendering the mesh
std::map< MeshHandle, GLMeshPtr >	meshes_
	storage for meshed to be filtered
boost::mutex	meshes_mutex_
	mutex for synchronization of updating filtered meshes
MeshHandle	min_handle_
	Handle values below this are all taken (this variable is used for more efficient computation of next_label_)
MeshHandle	next_handle_
	next handle to be used for next mesh that is added
float	padding_offset_
	padding offset
float	padding_scale_
	padding scale
GLuint	sensor_depth_texture_
	handle depth texture from sensor data
SensorModel::ParametersPtr	sensor_parameters_
	the parameters of the used sensor model
float	shadow_threshold_
	threshold for shadowed pixels vs. filtered pixels
GLuint	shadow_threshold_location_
	handle to GLSL location of shadow threshold
bool	stop_
	indicates whether the filtering loop should stop
TransformCallback	transform_callback_
	callback function for retrieving the mesh transformations
boost::mutex	transform_callback_mutex_
	mutex for synchronization of setting/calling transform_callback_

Detailed Description

Definition at line 63 of file mesh_filter_base.h.

Member Typedef Documentation

typedef boost::function<bool(MeshHandle, Eigen::Affine3d&)> mesh_filter::MeshFilterBase::TransformCallback

Definition at line 67 of file mesh_filter_base.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

Background
Shadow
NearClip
FarClip
FirstLabel

Definition at line 71 of file mesh_filter_base.h.

Constructor & Destructor Documentation

mesh_filter::MeshFilterBase::MeshFilterBase	(	const TransformCallback &	transform_callback,
		const SensorModel::Parameters &	sensor_parameters,
		const std::string &	render_vertex_shader = `""`,
		const std::string &	render_fragment_shader = `""`,
		const std::string &	filter_vertex_shader = `""`,
		const std::string &	filter_fragment_shader = `""`
	)

Constructor.

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in] transform_callback Callback function that is called for each mesh to obtain the current transformation.

Note:: the callback expects the mesh handle but no time stamp. Its the users responsibility to return the correct transformation.

Definition at line 55 of file mesh_filter_base.cpp.

mesh_filter::MeshFilterBase::~MeshFilterBase ( )

Desctructor.

Definition at line 122 of file mesh_filter_base.cpp.

Member Function Documentation

void mesh_filter::MeshFilterBase::addJob ( const JobPtr & job ) const [protected]

add a Job for the main thread that needs to be executed there

Parameters:

[in] job the job object that has the function o be executed

Definition at line 137 of file mesh_filter_base.cpp.

mesh_filter::MeshHandle mesh_filter::MeshFilterBase::addMesh ( const shapes::Mesh & mesh )

adds a mesh to the filter object.

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in] mesh the mesh to be added

Returns:: handle to the mesh. This handle is used in the transform callback function to identify the mesh and retrieve the correct transformation.

Definition at line 171 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::addMeshHelper	(	MeshHandle	handle,
		const shapes::Mesh *	cmesh
	)		`[protected]`

used within a Job to allow the main thread adding meshes

Parameters:

[in]	handle	the handle of the mesh that is predetermined and passed
[in]	cmesh	the mesh to be added to the corresponding handle

Definition at line 190 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::deInitialize ( ) [protected]

cleaning up

Definition at line 146 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::doFilter	(	const void *	sensor_data,
		const int	encoding
	)		const `[protected]`

the filter method that does the magic

Parameters:

[in]	sensor_data	pointer to the buffer containing the depth readings
[in]	encoding	the representation of the depth readings in the buffer

Definition at line 306 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::filter	(	const void *	sensor_data,
		GLushort	type,
		bool	wait = `false`
	)		const

label/remove pixels from input depth-image

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in] sensor_data pointer to the input depth image from sensor readings.

Todo:: what is type?

Definition at line 291 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::getFilteredDepth ( float * depth ) const

retrieves the filtered depth values

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[out] depth pointer to buffer to be filled with depth values.

Definition at line 242 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::getFilteredLabels ( LabelType * labels ) const

retrieves the labels of the input data

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[out] labels pointer to buffer to be filled with labels

Note:: labels are corresponding 1-1 to the mesh handles. 0 and 1 are reserved indicating either background (0) or shadow (1) The upper 8bit of a label is filled with the user given flag (see addMesh)

Definition at line 257 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::getModelDepth ( float * depth ) const

retrieves the depth values of the rendered model

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[out] depth pointer to buffer to be filled with depth values.

Definition at line 227 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::getModelLabels ( LabelType * labels ) const

retrieves the labels of the rendered model

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[out] labels pointer to buffer to be filled with labels

Note:: labels are corresponding 1-1 to the mesh handles. 0 and 1 are reserved indicating either background (0) or shadow (1) The upper 8bit of a label is filled with the user given flag (see addMesh)

Todo:: How is this data different from the filtered labels?

Definition at line 219 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::initialize	(	const std::string &	render_vertex_shader,
		const std::string &	render_fragment_shader,
		const std::string &	filter_vertex_shader,
		const std::string &	filter_fragment_shader
	)		`[protected]`

initializes OpenGL related things as well as renderers

Definition at line 74 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::removeMesh ( MeshHandle mesh_handle )

removes a mesh given by its handle

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

[in] mesh_handle the handle of the mesh to be removed.

Definition at line 195 of file mesh_filter_base.cpp.

bool mesh_filter::MeshFilterBase::removeMeshHelper ( MeshHandle handle ) [protected]

used within a Job to allow the main thread removing meshes

Parameters:

[in] handle the handle of the mesh to be removed

Definition at line 208 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::run	(	const std::string &	render_vertex_shader,
		const std::string &	render_fragment_shader,
		const std::string &	filter_vertex_shader,
		const std::string &	filter_fragment_shader
	)		`[protected]`

filtering thread

Definition at line 265 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::setPaddingOffset ( float offset )

set the offset component of padding. This value is added to the scaled sensor-specific constant component.

Parameters:

[in] offset the offset value

Definition at line 388 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::setPaddingScale ( float scale )

set the scale component of padding used to multiply with sensor-specific padding coefficients to get final coefficients.

Parameters:

[in] scale the scale value

Definition at line 393 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::setShadowThreshold ( float threshold )

set the shadow threshold. points that are further away than the rendered model are filtered out. Except they are further away than this threshold. Then these points are kept, but its label is set to 1 indicating that it is in the shadow of the model