37 #ifndef MOVEIT_MESH_FILTER_STEREO_CAMERA_MODEL_ 38 #define MOVEIT_MESH_FILTER_STEREO_CAMERA_MODEL_ 72 Parameters(
unsigned width,
unsigned height,
float near_clipping_plane_distance,
float far_clipping_plane_distance,
73 float fx,
float fy,
float cx,
float cy,
float base_line,
float disparity_resolution);
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.
const Eigen::Vector3f padding_coefficients_
padding coefficients
float cx_
x component of principal point
void setFilterParameters(GLRenderer &renderer) const
set the shader parameters required for the mesh filtering
float base_line_
distance of the two projective devices that are used to determine the disparities ...
Model for Disparity based devices. E.g stereo camera systems or OpenNI compatible devices...
float fy_
focal length in y-direction
static const std::string filterVertexShaderSource
source code of the vertex shader used to filter the depth map
void setDisparityResolution(float disparity_resolution)
the quantization of disparity values in pixels. Usually 1/16th or 1/8th for OpenNI compatible devices...
void setBaseline(float base_line)
sets the base line = distance of the two projective devices (camera, projector-camera) ...
Abstracts the OpenGL frame buffer objects, and provides an interface to render meshes, and retrieve the color and depth ap from opengl.
float fx_
focal length in x-direction
static const StereoCameraModel::Parameters & RegisteredPSDKParams
predefined sensor model for OpenNI compatible devices (e.g., PrimeSense, Kinect, Asus Xtion) ...
Parameters for Stereo-like devices.
float disparity_resolution_
resolution/quantization of disparity values
Abstract Interface defining Sensor Parameters.
static const std::string renderFragmentShaderSource
source code of the fragment shader used to render the meshes
static const std::string filterFragmentShaderSource
source code of the fragment shader used to filter the depth map
~Parameters()
Descturctor.
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
const Eigen::Vector3f & getPaddingCoefficients() const
returns the coefficients that are required for obtaining the padding for meshes
static const std::string renderVertexShaderSource
source code of the vertex shader used to render the meshes
void setRenderParameters(GLRenderer &renderer) const
set the shader parameters required for the model rendering
SensorModel::Parameters * clone() const
polymorphic clone method
float cy_
y component of principal point
Abstract Interface defining a sensor model for mesh filtering.