Parameters for Stereo-like devices. More...

#include <stereo_camera_model.h>

Inheritance diagram for mesh_filter::StereoCameraModel::Parameters:

Public Member Functions
SensorModel::Parameters *	clone () const
	polymorphic clone method
const Eigen::Vector3f &	getPaddingCoefficients () const
	returns the coefficients that are required for obtaining the padding for meshes
	Parameters (unsigned width, unsigned height, float near_clipping_plane_distance, float far_clipping_plane_distance, float fx, float fy, float cx, float cy, float base_line, float disparity_resolution)
	Constructor.
void	setBaseline (float base_line)
	sets the base line = distance of the two projective devices (camera, projector-camera)
void	setCameraParameters (float fx, float fy, float cx, float cy)
	sets the camera parameters of the pinhole camera where the disparities were obtained. Usually the left camera
void	setDisparityResolution (float disparity_resolution)
	the quantization of disparity values in pixels. Usually 1/16th or 1/8th for OpenNI compatible devices
void	setFilterParameters (GLRenderer &renderer) const
	set the shader parameters required for the mesh filtering
void	setRenderParameters (GLRenderer &renderer) const
	set the shader parameters required for the model rendering
	~Parameters ()
	Descturctor.
Private Attributes
float	base_line_
	distance of the two projective devices that are used to determine the disparities
float	cx_
	x component of principal point
float	cy_
	y component of principal point
float	disparity_resolution_
	resolution/quantization of disparity values
float	fx_
	focal length in x-direction
float	fy_
	focal length in y-direction
const Eigen::Vector3f	padding_coefficients_
	padding coefficients

Detailed Description

Parameters for Stereo-like devices.

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

Definition at line 56 of file stereo_camera_model.h.

Constructor & Destructor Documentation

mesh_filter::StereoCameraModel::Parameters::Parameters	(	unsigned	width,
		unsigned	height,
		float	near_clipping_plane_distance,
		float	far_clipping_plane_distance,
		float	fx,
		float	fy,
		float	cx,
		float	cy,
		float	base_line,
		float	disparity_resolution
	)

Constructor.

Parameters:

[in]	width	width of generated depth maps from this device
[in]	height	height of generated depth maps from this device
[in]	near_clipping_plane_distance	distance of near clipping plane
[in]	far_clipping_plane_distance	distance of far clipping plene
[in]	fx	focal length in x-direction
[in]	fy	focal length in y-direction
[in]	cx	x component of principal point
[in]	cy	y component of principal point
[in]	base_line	the distance in meters used to determine disparity values
[in]	disparity_resolution	resolution/quantization of disparity values in pixels

Definition at line 42 of file stereo_camera_model.cpp.

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

Descturctor.

Reimplemented from mesh_filter::SensorModel::Parameters.

Definition at line 57 of file stereo_camera_model.cpp.

Member Function Documentation

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

polymorphic clone method

Returns:: deep copied Parameters of type StereoCameraModel::Parameters

Implements mesh_filter::SensorModel::Parameters.

Definition at line 61 of file stereo_camera_model.cpp.

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

returns the coefficients that are required for obtaining the padding for meshes

Returns:: the padding coefficients

Implements mesh_filter::SensorModel::Parameters.

Definition at line 98 of file stereo_camera_model.cpp.

void mesh_filter::StereoCameraModel::Parameters::setBaseline ( float base_line )

sets the base line = distance of the two projective devices (camera, projector-camera)

Parameters:

[in] base_line the distance in meters

Definition at line 75 of file stereo_camera_model.cpp.

void mesh_filter::StereoCameraModel::Parameters::setCameraParameters	(	float	fx,
		float	fy,
		float	cx,
		float	cy
	)

sets the camera parameters of the pinhole camera where the disparities were obtained. Usually the left camera

Parameters:

[in]	fx	focal length in x-direction
[in]	fy	focal length in y-direction
[in]	cx	x component of principal point
[in]	cy	y component of principal point

Definition at line 67 of file stereo_camera_model.cpp.

void mesh_filter::StereoCameraModel::Parameters::setDisparityResolution ( float disparity_resolution )

the quantization of disparity values in pixels. Usually 1/16th or 1/8th for OpenNI compatible devices

Parameters:

disparity_resolution

Definition at line 80 of file stereo_camera_model.cpp.

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

set the shader parameters required for the mesh filtering

Parameters:

[in] renderer the renderer that holds the filtering shader

Implements mesh_filter::SensorModel::Parameters.

Definition at line 103 of file stereo_camera_model.cpp.

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

set the shader parameters required for the model rendering

Parameters:

[in] renderer the renderer that holds the rendering shader.

Implements mesh_filter::SensorModel::Parameters.

Definition at line 85 of file stereo_camera_model.cpp.

Member Data Documentation

float mesh_filter::StereoCameraModel::Parameters::base_line_ [private]

distance of the two projective devices that are used to determine the disparities

Definition at line 137 of file stereo_camera_model.h.

float mesh_filter::StereoCameraModel::Parameters::cx_ [private]

x component of principal point

Definition at line 131 of file stereo_camera_model.h.

float mesh_filter::StereoCameraModel::Parameters::cy_ [private]

y component of principal point

Definition at line 134 of file stereo_camera_model.h.

float mesh_filter::StereoCameraModel::Parameters::disparity_resolution_ [private]

resolution/quantization of disparity values

Definition at line 140 of file stereo_camera_model.h.

float mesh_filter::StereoCameraModel::Parameters::fx_ [private]

focal length in x-direction

Definition at line 125 of file stereo_camera_model.h.

float mesh_filter::StereoCameraModel::Parameters::fy_ [private]

focal length in y-direction

Definition at line 128 of file stereo_camera_model.h.

const Eigen::Vector3f mesh_filter::StereoCameraModel::Parameters::padding_coefficients_ [private]

padding coefficients

Note:: absolute padding in meters = coeff[0] * z^2 + coeff[1] * z + coeff[2]

Definition at line 146 of file stereo_camera_model.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation