cob_3d_mapping::PrimeSense Class Reference

Sensor model for PrimeSense cameras. More...

#include <sensor_model.h>

List of all members.

Public Types
typedef Eigen::Map< const Eigen::Matrix< float, 4, 4, Eigen::RowMajor > >	MatMap
Public Member Functions
	PrimeSense ()
	Empty constructor.
	~PrimeSense ()
	Empty destructor.
Static Public Member Functions
static bool	areNeighbors (float query, float neighbor, float tolerance=2.0f)
static bool	areNeighbors (const Eigen::Vector3f &query, const Eigen::Vector3f &neighbor, float tolerance=4.0f)
static Eigen::Matrix4f	tf_unit_cube ()
Static Public Attributes
static const float	aspect = PrimeSense::w / PrimeSense::h
static const float	b = - PrimeSense::t
	bottom
static const float	f = 5.0f
	far plane
static const float	fov_h = 49.0f / 180.0f * M_PI
	fov horizontal (IR) , from wiki and ros.org
static const float	fov_v = 43.0f / 180.0f * M_PI
	fov vertical (IR)
static const float	h = 480.0f
static const float	l = - PrimeSense::r
	left
static const float	mat []
static const float	n = 0.5f
	near plane
static const float	r = PrimeSense::n * tan(PrimeSense::fov_h * 0.5f)
	right
static const float	t = PrimeSense::n * tan(PrimeSense::fov_v * 0.5f)
	top
static const float	w = 640.0f

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Detailed Description

Sensor model for PrimeSense cameras.

Definition at line 75 of file sensor_model.h.

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Member Typedef Documentation

typedef Eigen::Map<const Eigen::Matrix<float,4,4,Eigen::RowMajor> > cob_3d_mapping::PrimeSense::MatMap

Definition at line 78 of file sensor_model.h.

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Constructor & Destructor Documentation

cob_3d_mapping::PrimeSense::PrimeSense

(

)

[inline]

Empty constructor.

Definition at line 83 of file sensor_model.h.

cob_3d_mapping::PrimeSense::~PrimeSense

(

)

[inline]

Empty destructor.

Definition at line 87 of file sensor_model.h.

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Member Function Documentation

static bool cob_3d_mapping::PrimeSense::areNeighbors	(	float	query,
		float	neighbor,
		float	tolerance = 2.0f
	)		[inline, static]

Definition at line 98 of file sensor_model.h.

static bool cob_3d_mapping::PrimeSense::areNeighbors	(	const Eigen::Vector3f &	query,
		const Eigen::Vector3f &	neighbor,
		float	tolerance = 4.0f
	)		[inline, static]

Definition at line 116 of file sensor_model.h.

static Eigen::Matrix4f cob_3d_mapping::PrimeSense::tf_unit_cube

(

)

[inline, static]

Definition at line 126 of file sensor_model.h.

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Member Data Documentation

const float cob_3d_mapping::PrimeSense::aspect = PrimeSense::w / PrimeSense::h [static]

Definition at line 139 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::b = - PrimeSense::t [static]

bottom

Definition at line 136 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::f = 5.0f [static]

far plane

Definition at line 131 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::fov_h = 49.0f / 180.0f * M_PI [static]

fov horizontal (IR) , from wiki and ros.org

Definition at line 129 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::fov_v = 43.0f / 180.0f * M_PI [static]

fov vertical (IR)

Definition at line 130 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::h = 480.0f [static]

Definition at line 138 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::l = - PrimeSense::r [static]

left

Definition at line 133 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::mat [static]

Initial value:

  {
    1.0f / ( PrimeSense::aspect * tan(0.5f * PrimeSense::fov_h) ),
    0,
    0,
    0,

    0,
    1.0f / ( tan(0.5f * PrimeSense::fov_h) ),
    0,
    0,

    0,
    0,
    (PrimeSense::n + PrimeSense::f) / (PrimeSense::n - PrimeSense::f),
    -2.0f * PrimeSense::f * PrimeSense::n / (PrimeSense::n - PrimeSense::f),

    0,
    0,
    1,
    0
  }

Definition at line 140 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::n = 0.5f [static]

near plane

Definition at line 132 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::r = PrimeSense::n * tan(PrimeSense::fov_h * 0.5f) [static]

right

Definition at line 134 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::t = PrimeSense::n * tan(PrimeSense::fov_v * 0.5f) [static]

top

Definition at line 135 of file sensor_model.h.

const float cob_3d_mapping::PrimeSense::w = 640.0f [static]

Definition at line 137 of file sensor_model.h.

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

• sensor_model.h