#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. More...

void	filter (const void *sensor_data, GLushort type, bool wait=false) const
	label/remove pixels from input depth-image More...

void	getFilteredDepth (float *depth) const
	retrieves the filtered depth values More...

void	getFilteredLabels (LabelType *labels) const
	retrieves the labels of the input data More...

void	getModelDepth (float *depth) const
	retrieves the depth values of the rendered model More...

void	getModelLabels (LabelType *labels) const
	retrieves the labels of the rendered model More...

	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. More...

void	removeMesh (MeshHandle mesh_handle)
	removes a mesh given by its handle More...

void	setPaddingOffset (float offset)
	set the offset component of padding. This value is added to the scaled sensor-specific constant component. More...

void	setPaddingScale (float scale)
	set the scale component of padding used to multiply with sensor-specific padding coefficients to get final coefficients. More...

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 More...

void	setTransformCallback (const TransformCallback &transform_callback)
	set the callback for retrieving transformations for each mesh. More...

	~MeshFilterBase ()
	Desctructor. More...

Protected Member Functions
void	addJob (const JobPtr &job) const
	add a Job for the main thread that needs to be executed there More...

void	addMeshHelper (MeshHandle handle, const shapes::Mesh *cmesh)
	used within a Job to allow the main thread adding meshes More...

void	deInitialize ()
	cleaning up More...

void	doFilter (const void *sensor_data, const int encoding) const
	the filter method that does the magic More...

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 More...

bool	removeMeshHelper (MeshHandle handle)
	used within a Job to allow the main thread removing meshes More...

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 More...

void	setSize (unsigned int width, unsigned int height)
	sets the size of the fram buffers More...

Protected Attributes
GLuint	canvas_
	canvas element (screen-filling quad) for second pass More...

GLRendererPtr	depth_filter_
	second pass renderer for filtering the results of first pass More...

boost::thread	filter_thread_
	the filtering thread that also holds the OpenGL context More...

boost::condition_variable	jobs_condition_
	condition variable to notify the filtering thread if a new image arrived More...

boost::mutex	jobs_mutex_
	mutex required for synchronization of condition states More...

std::queue< JobPtr >	jobs_queue_
	OpenGL job queue that need to be processed by the worker thread. More...

GLRendererPtr	mesh_renderer_
	first pass renderer for rendering the mesh More...

std::map< MeshHandle, GLMeshPtr >	meshes_
	storage for meshed to be filtered More...

boost::mutex	meshes_mutex_
	mutex for synchronization of updating filtered meshes More...

MeshHandle	min_handle_
	Handle values below this are all taken (this variable is used for more efficient computation of next_label_) More...

MeshHandle	next_handle_
	next handle to be used for next mesh that is added More...

float	padding_offset_
	padding offset More...

float	padding_scale_
	padding scale More...

GLuint	sensor_depth_texture_
	handle depth texture from sensor data More...

SensorModel::ParametersPtr	sensor_parameters_
	the parameters of the used sensor model More...

float	shadow_threshold_
	threshold for shadowed pixels vs. filtered pixels More...

GLuint	shadow_threshold_location_
	handle to GLSL location of shadow threshold More...

bool	stop_
	indicates whether the filtering loop should stop More...

TransformCallback	transform_callback_
	callback function for retrieving the mesh transformations More...

boost::mutex	transform_callback_mutex_
	mutex for synchronization of setting/calling transform_callback_ More...

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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 (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

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

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

[in] threshold shadow threshold in meters

Definition at line 214 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::setSize	(	unsigned int	width,
		unsigned int	height
	)

protected

sets the size of the fram buffers

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

[in]	width	width of frame buffers in pixels
[in]	height	height of frame buffers in pixels

Definition at line 156 of file mesh_filter_base.cpp.

void mesh_filter::MeshFilterBase::setTransformCallback ( const TransformCallback & transform_callback )

set the callback for retrieving transformations for each mesh.

Author: Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Parameters

[in] transform_callback the callback

Definition at line 165 of file mesh_filter_base.cpp.

Member Data Documentation

GLuint mesh_filter::MeshFilterBase::canvas_

protected

canvas element (screen-filling quad) for second pass

Definition at line 276 of file mesh_filter_base.h.

GLRendererPtr mesh_filter::MeshFilterBase::depth_filter_

protected

second pass renderer for filtering the results of first pass

Definition at line 273 of file mesh_filter_base.h.

boost::thread mesh_filter::MeshFilterBase::filter_thread_

protected

the filtering thread that also holds the OpenGL context

Definition at line 249 of file mesh_filter_base.h.

boost::condition_variable mesh_filter::MeshFilterBase::jobs_condition_

mutableprotected

condition variable to notify the filtering thread if a new image arrived

Definition at line 252 of file mesh_filter_base.h.

boost::mutex mesh_filter::MeshFilterBase::jobs_mutex_

mutableprotected

mutex required for synchronization of condition states

Definition at line 255 of file mesh_filter_base.h.

std::queue<JobPtr> mesh_filter::MeshFilterBase::jobs_queue_

mutableprotected

OpenGL job queue that need to be processed by the worker thread.

Definition at line 258 of file mesh_filter_base.h.

GLRendererPtr mesh_filter::MeshFilterBase::mesh_renderer_

protected

first pass renderer for rendering the mesh

Definition at line 270 of file mesh_filter_base.h.

std::map<MeshHandle, GLMeshPtr> mesh_filter::MeshFilterBase::meshes_

protected

storage for meshed to be filtered

Definition at line 236 of file mesh_filter_base.h.

boost::mutex mesh_filter::MeshFilterBase::meshes_mutex_

mutableprotected

mutex for synchronization of updating filtered meshes

Definition at line 261 of file mesh_filter_base.h.

MeshHandle mesh_filter::MeshFilterBase::min_handle_

protected

Handle values below this are all taken (this variable is used for more efficient computation of next_label_)

Definition at line 246 of file mesh_filter_base.h.

MeshHandle mesh_filter::MeshFilterBase::next_handle_

protected

next handle to be used for next mesh that is added

Definition at line 242 of file mesh_filter_base.h.

float mesh_filter::MeshFilterBase::padding_offset_

protected

padding offset

Definition at line 291 of file mesh_filter_base.h.

float mesh_filter::MeshFilterBase::padding_scale_

protected

padding scale

Definition at line 288 of file mesh_filter_base.h.

GLuint mesh_filter::MeshFilterBase::sensor_depth_texture_

protected

handle depth texture from sensor data

Definition at line 279 of file mesh_filter_base.h.

SensorModel::ParametersPtr mesh_filter::MeshFilterBase::sensor_parameters_

protected

the parameters of the used sensor model

Definition at line 239 of file mesh_filter_base.h.

float mesh_filter::MeshFilterBase::shadow_threshold_

protected

threshold for shadowed pixels vs. filtered pixels

Definition at line 294 of file mesh_filter_base.h.

GLuint mesh_filter::MeshFilterBase::shadow_threshold_location_

protected

handle to GLSL location of shadow threshold

Definition at line 282 of file mesh_filter_base.h.

bool mesh_filter::MeshFilterBase::stop_

protected

indicates whether the filtering loop should stop

Definition at line 267 of file mesh_filter_base.h.

TransformCallback mesh_filter::MeshFilterBase::transform_callback_

protected

callback function for retrieving the mesh transformations

Definition at line 285 of file mesh_filter_base.h.

boost::mutex mesh_filter::MeshFilterBase::transform_callback_mutex_

mutableprotected

mutex for synchronization of setting/calling transform_callback_

Definition at line 264 of file mesh_filter_base.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation