CameraModelFilter class was built to generalize the filtering for different camera models. More...

#include <CameraModelFilter.hpp>

Inheritance diagram for next_best_view::CameraModelFilter:

[legend]

Public Member Functions
	CameraModelFilter ()
	constructs a new camera model filter. More...

double	getFarClippingPlane ()

double	getHorizontalFOV ()

double	getNearClippingPlane ()

SimpleQuaternion	getOrientation ()

SimpleVector3	getPivotPointPosition ()

virtual float	getRecognizerCosts (std::string objectType)

double	getVerticalFOV ()

virtual viz::MarkerArrayPtr	getVisualizationMarkerArray (uint32_t &sequence, double lifetime=30.0)=0
	returns a array of markers containing the visualization of the camera frustum. More...

bool	haveParametersChanged ()

void	setFarClippingPlane (double fcp)
	sets the far clipping plane. fcp the far clipping distance More...

void	setHorizontalFOV (double fovDegrees)
	sets the horizontal field of view. More...

void	setNearClippingPlane (double ncp)
	sets the near clipping plane. More...

void	setOrientation (const SimpleQuaternion &orientation)
	sets the orientation of the pivot point More...

void	setParametersChanged (bool value)

void	setPivotPointPose (const SimpleVector3 &position, const SimpleQuaternion &orientation)
	sets the pose of the pivot point. More...

void	setPivotPointPosition (const SimpleVector3 &position)
	sets the position of the pivot point. More...

virtual void	setRecognizerCosts (float recognizerCosts, std::string objectType)

void	setVerticalFOV (double fovDegrees)
	sets the vertical field of view. More...

virtual	~CameraModelFilter ()=0
	destructs the camera model filter. More...

Public Member Functions inherited from next_best_view::GeneralFilter
virtual void	doFiltering (IndicesPtr &indicesPtr)=0
	Does the filtering on the indices. More...

void	filter (IndicesPtr &indicesPtr)
	Applies the filter on the indices. More...

	GeneralFilter ()

void	setPostFilter (GeneralFilterPtr &filterPtr)
	Adding a post filter to this filter. More...

void	setPreFilter (GeneralFilterPtr &filterPtr)
	Adding a pre filter to this filter. More...

Public Member Functions inherited from next_best_view::CommonClass
	CommonClass ()
	constructor More...

virtual IndicesPtr &	getIndices ()

virtual ObjectPointCloudPtr &	getInputCloud ()

virtual void	setIndices (const IndicesPtr &indicesPtr)
	setting the shared pointer to the active indices of the point cloud. More...

virtual void	setInputCloud (const ObjectPointCloudPtr &pointCloudPtr)
	setting the input cloud. More...

virtual	~CommonClass ()=0
	pure virtual deconstructor. More...

Static Protected Member Functions
static SimpleMatrix4	getCameraPoseMatrix (const SimpleVector3 &position, const SimpleQuaternion &orientation)
	convenience function to get a camera pose matrix. More...

Private Attributes
double	mFcp
	the far clipping distance. More...

double	mFOVX
	the horizontal field of view. More...

double	mFOVY
	the vertical field of view. More...

double	mNcp
	the near clipping distance. More...

bool	mParametersChanged
	marks if the parameters changed. More...

SimpleQuaternion	mPivotPointOrientation
	the orientation of the pivot point. More...

SimpleVector3	mPivotPointPosition
	the position of the pivot point. More...

float	recognizerCosts
	The time it takes to recognize an object (in seconds) More...

Detailed Description

CameraModelFilter class was built to generalize the filtering for different camera models.

Author: Ralf Schleicher

Date: 2014

Version: 1.0

Copyright: GNU Public License

Definition at line 36 of file CameraModelFilter.hpp.

Constructor & Destructor Documentation

next_best_view::CameraModelFilter::CameraModelFilter ( )

constructs a new camera model filter.

Definition at line 23 of file CameraModelFilter.cpp.

next_best_view::CameraModelFilter::~CameraModelFilter ( )

pure virtual

destructs the camera model filter.

Definition at line 26 of file CameraModelFilter.cpp.

Member Function Documentation

SimpleMatrix4 next_best_view::CameraModelFilter::getCameraPoseMatrix	(	const SimpleVector3 &	position,
		const SimpleQuaternion &	orientation
	)

staticprotected

convenience function to get a camera pose matrix.

Parameters

position	[in] the position of the camera
orientation	[in] the orientation of the camera

Definition at line 61 of file CameraModelFilter.cpp.

double next_best_view::CameraModelFilter::getFarClippingPlane ( )

Returns: the far clipping distance

Definition at line 100 of file CameraModelFilter.cpp.

double next_best_view::CameraModelFilter::getHorizontalFOV ( )

Returns: the fov in degrees

Definition at line 73 of file CameraModelFilter.cpp.

double next_best_view::CameraModelFilter::getNearClippingPlane ( )

Returns: the near clipping distance

Definition at line 91 of file CameraModelFilter.cpp.

SimpleQuaternion next_best_view::CameraModelFilter::getOrientation ( )

Returns: the orientation of the pivot point as quaternion

Definition at line 57 of file CameraModelFilter.cpp.

SimpleVector3 next_best_view::CameraModelFilter::getPivotPointPosition ( )

Returns: the position of the pivot point

Definition at line 48 of file CameraModelFilter.cpp.

float next_best_view::CameraModelFilter::getRecognizerCosts ( std::string objectType )

virtual

Parameters

objectType the object to recognize.

Returns: the costs of the recognition of the object

Definition at line 34 of file CameraModelFilter.cpp.

double next_best_view::CameraModelFilter::getVerticalFOV ( )

Returns: the fov in degrees

Definition at line 82 of file CameraModelFilter.cpp.

virtual viz::MarkerArrayPtr next_best_view::CameraModelFilter::getVisualizationMarkerArray	(	uint32_t &	sequence,
		double	lifetime = `30.0`
	)

pure virtual

returns a array of markers containing the visualization of the camera frustum.

Parameters

sequence	[in / out] a number used for unique identifying of the markers in the array
lifetime	the lifetime of each marker

Returns: the visualization for that camera filter setting

Implemented in next_best_view::StereoCameraModelFilter, and next_best_view::SingleCameraModelFilter.

bool next_best_view::CameraModelFilter::haveParametersChanged ( )

inline

Returns: if the parameters changed

Definition at line 113 of file CameraModelFilter.hpp.

void next_best_view::CameraModelFilter::setFarClippingPlane ( double fcp )

sets the far clipping plane. fcp the far clipping distance

Definition at line 95 of file CameraModelFilter.cpp.

void next_best_view::CameraModelFilter::setHorizontalFOV ( double fovDegrees )

sets the horizontal field of view.

Parameters

fov	the field of view in degrees

Definition at line 68 of file CameraModelFilter.cpp.

void next_best_view::CameraModelFilter::setNearClippingPlane ( double ncp )

sets the near clipping plane.

Parameters

ncp	the near clipping distance

Definition at line 86 of file CameraModelFilter.cpp.

void next_best_view::CameraModelFilter::setOrientation ( const SimpleQuaternion & orientation )

sets the orientation of the pivot point

Parameters

orientation [in] a quaternion which denotes the orientation

Definition at line 52 of file CameraModelFilter.cpp.

void next_best_view::CameraModelFilter::setParametersChanged ( bool value )

inline

Parameters

value set to changed or not.

Definition at line 120 of file CameraModelFilter.hpp.

void next_best_view::CameraModelFilter::setPivotPointPose	(	const SimpleVector3 &	position,
		const SimpleQuaternion &	orientation
	)

sets the pose of the pivot point.

Parameters

position	[in] a 3d vector pointing to a position
orientation	[in] a quaternion which denotes the orientation

Definition at line 38 of file CameraModelFilter.cpp.

void next_best_view::CameraModelFilter::setPivotPointPosition ( const SimpleVector3 & position )

sets the position of the pivot point.

Parameters

position [in] a 3d vector pointing to a position

Definition at line 43 of file CameraModelFilter.cpp.

void next_best_view::CameraModelFilter::setRecognizerCosts	(	float	recognizerCosts,
		std::string	objectType
	)

virtual

Parameters

recognizerCosts	the costs of the recognition of the object
objectType	the object to recognize.

Definition at line 28 of file CameraModelFilter.cpp.

void next_best_view::CameraModelFilter::setVerticalFOV ( double fovDegrees )

sets the vertical field of view.

Parameters

fov	the field of view in degrees

Definition at line 77 of file CameraModelFilter.cpp.

Member Data Documentation

double next_best_view::CameraModelFilter::mFcp

private

the far clipping distance.

Definition at line 61 of file CameraModelFilter.hpp.

double next_best_view::CameraModelFilter::mFOVX

private

the horizontal field of view.

Definition at line 46 of file CameraModelFilter.hpp.

double next_best_view::CameraModelFilter::mFOVY

private

the vertical field of view.

Definition at line 51 of file CameraModelFilter.hpp.

double next_best_view::CameraModelFilter::mNcp

private

the near clipping distance.

Definition at line 56 of file CameraModelFilter.hpp.

bool next_best_view::CameraModelFilter::mParametersChanged

private

marks if the parameters changed.

Definition at line 41 of file CameraModelFilter.hpp.

SimpleQuaternion next_best_view::CameraModelFilter::mPivotPointOrientation

private

the orientation of the pivot point.

Definition at line 71 of file CameraModelFilter.hpp.

SimpleVector3 next_best_view::CameraModelFilter::mPivotPointPosition

private

the position of the pivot point.

Definition at line 66 of file CameraModelFilter.hpp.

float next_best_view::CameraModelFilter::recognizerCosts

private

The time it takes to recognize an object (in seconds)

Definition at line 76 of file CameraModelFilter.hpp.

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

Public Member Functions

Static Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation