StereoCameraModelFilter class implements the frustum filtering for stereo cameras. More...

#include <StereoCameraModelFilter.hpp>

Inheritance diagram for next_best_view::StereoCameraModelFilter:

Public Types
enum	FilteringType { LEFT, RIGHT, BOTH, INTERSECTION }
	describes the filtering type of the filter. More...

Public Member Functions
void	doFiltering (IndicesPtr &indicesPtr)
	Does the filtering on the indices. More...

FilteringType	getFilteringType ()

SimpleVector3	getLeftCameraPivotPointOffset ()

SimpleVector3	getRightCameraPivotPointOffset ()

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

void	setFilteringType (FilteringType type)
	sets the filtering type. More...

void	setLeftCameraPivotPointOffset (const SimpleVector3 &cameraPivotPointOffset)
	sets the left camera pivot offset More...

void	setRightCameraPivotPointOffset (const SimpleVector3 &cameraPivotPointOffset)
	sets the left camera pivot offset More...

	StereoCameraModelFilter (const SimpleVector3 &leftCameraPivotPointOffset=SimpleVector3(), const SimpleVector3 &rightCameraPivotPointOffset=SimpleVector3())
	constructor for the StereoCameraModelFilter object More...

Public Member Functions inherited from next_best_view::CameraModelFilter
	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 ()

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
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...

Protected Member Functions
void	copySettings ()
	copies the settings of this objects to the settings of the two SingeCameraModelFilter objects. More...

Private Attributes
FilteringType	mFilteringType
	the filtering type. More...

SingleCameraModelFilter	mLeftCameraModelFilter
	the left camera model filter. More...

SingleCameraModelFilter	mRightCameraModelFilter
	the right camera model filter. More...

Additional Inherited Members
Static Protected Member Functions inherited from next_best_view::CameraModelFilter
static SimpleMatrix4	getCameraPoseMatrix (const SimpleVector3 &position, const SimpleQuaternion &orientation)
	convenience function to get a camera pose matrix. More...

Detailed Description

StereoCameraModelFilter class implements the frustum filtering for stereo cameras.

The stereo camera model makes actually twice the use of the SingleCameraModelFilter. Therefore it may be possible to implement different camera orientations in here either.

Author: Ralf Schleicher

Date: 2014

Version: 1.0

Copyright: GNU Public License

Definition at line 34 of file StereoCameraModelFilter.hpp.

Member Enumeration Documentation

enum next_best_view::StereoCameraModelFilter::FilteringType

describes the filtering type of the filter.

If LEFT or RIGHT is used, only the camera filter of the left or the right camera will be used. On BOTH the results of left and right will be combined. And on intersection only the points which are in the left and the right frustum will be minded.

Enumerator
LEFT
RIGHT
BOTH
INTERSECTION

Definition at line 40 of file StereoCameraModelFilter.hpp.

Constructor & Destructor Documentation

next_best_view::StereoCameraModelFilter::StereoCameraModelFilter	(	const SimpleVector3 &	leftCameraPivotPointOffset = `SimpleVector3()`,
		const SimpleVector3 &	rightCameraPivotPointOffset = `SimpleVector3()`
	)

constructor for the StereoCameraModelFilter object

Parameters

leftCameraPivotPointOffset	[in] the offset to the pivot point for the left camera
rightCameraPivotPointOffset	[in] the offset to the pivot point for the right camera

Definition at line 23 of file StereoCameraModelFilter.cpp.

Member Function Documentation

void next_best_view::StereoCameraModelFilter::copySettings ( )

protected

copies the settings of this objects to the settings of the two SingeCameraModelFilter objects.

Definition at line 29 of file StereoCameraModelFilter.cpp.

void next_best_view::StereoCameraModelFilter::doFiltering ( IndicesPtr & indicesPtr )

virtual

Does the filtering on the indices.

Parameters

indicesPtr the indices

Implements next_best_view::GeneralFilter.

Definition at line 57 of file StereoCameraModelFilter.cpp.

StereoCameraModelFilter::FilteringType next_best_view::StereoCameraModelFilter::getFilteringType ( )

Returns: the filtering type

Definition at line 104 of file StereoCameraModelFilter.cpp.

SimpleVector3 next_best_view::StereoCameraModelFilter::getLeftCameraPivotPointOffset ( )

Returns: the left camera pivot offset

Definition at line 112 of file StereoCameraModelFilter.cpp.

SimpleVector3 next_best_view::StereoCameraModelFilter::getRightCameraPivotPointOffset ( )

Returns: the left camera pivot offset

Definition at line 120 of file StereoCameraModelFilter.cpp.

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

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

Implements next_best_view::CameraModelFilter.

Definition at line 124 of file StereoCameraModelFilter.cpp.

void next_best_view::StereoCameraModelFilter::setFilteringType ( FilteringType type )

sets the filtering type.

Parameters

type	the type of filtering

Definition at line 100 of file StereoCameraModelFilter.cpp.

void next_best_view::StereoCameraModelFilter::setLeftCameraPivotPointOffset ( const SimpleVector3 & cameraPivotPointOffset )

sets the left camera pivot offset

Parameters

the	offset of the left camera to the pivot point

Definition at line 108 of file StereoCameraModelFilter.cpp.

void next_best_view::StereoCameraModelFilter::setRightCameraPivotPointOffset ( const SimpleVector3 & cameraPivotPointOffset )

sets the left camera pivot offset

Parameters

the	offset of the left camera to the pivot point

Definition at line 116 of file StereoCameraModelFilter.cpp.

Member Data Documentation

FilteringType next_best_view::StereoCameraModelFilter::mFilteringType

private

the filtering type.

Definition at line 50 of file StereoCameraModelFilter.hpp.

SingleCameraModelFilter next_best_view::StereoCameraModelFilter::mLeftCameraModelFilter

private

the left camera model filter.

Definition at line 55 of file StereoCameraModelFilter.hpp.

SingleCameraModelFilter next_best_view::StereoCameraModelFilter::mRightCameraModelFilter

private

the right camera model filter.

Definition at line 60 of file StereoCameraModelFilter.hpp.

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

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation