Public Member Functions | Private Attributes
mesh_filter::StereoCameraModel::Parameters Class Reference

Parameters for Stereo-like devices. More...

#include <stereo_camera_model.h>

Inheritance diagram for mesh_filter::StereoCameraModel::Parameters:
Inheritance graph
[legend]

List of all members.

Public Member Functions

SensorModel::Parametersclone () const
 polymorphic clone method
const Eigen::Vector3f & getPaddingCoefficients () const
 returns the coefficients that are required for obtaining the padding for meshes
 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.
void setBaseline (float base_line)
 sets the base line = distance of the two projective devices (camera, projector-camera)
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
void setDisparityResolution (float disparity_resolution)
 the quantization of disparity values in pixels. Usually 1/16th or 1/8th for OpenNI compatible devices
void setFilterParameters (GLRenderer &renderer) const
 set the shader parameters required for the mesh filtering
void setRenderParameters (GLRenderer &renderer) const
 set the shader parameters required for the model rendering
 ~Parameters ()
 Descturctor.

Private Attributes

float base_line_
 distance of the two projective devices that are used to determine the disparities
float cx_
 x component of principal point
float cy_
 y component of principal point
float disparity_resolution_
 resolution/quantization of disparity values
float fx_
 focal length in x-direction
float fy_
 focal length in y-direction
const Eigen::Vector3f padding_coefficients_
 padding coefficients

Detailed Description

Parameters for Stereo-like devices.

Author:
Suat Gedikli <gedikli@willowgarage.com>

Definition at line 56 of file stereo_camera_model.h.


Constructor & Destructor Documentation

mesh_filter::StereoCameraModel::Parameters::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.

Parameters:
[in]widthwidth of generated depth maps from this device
[in]heightheight of generated depth maps from this device
[in]near_clipping_plane_distancedistance of near clipping plane
[in]far_clipping_plane_distancedistance of far clipping plene
[in]fxfocal length in x-direction
[in]fyfocal length in y-direction
[in]cxx component of principal point
[in]cyy component of principal point
[in]base_linethe distance in meters used to determine disparity values
[in]disparity_resolutionresolution/quantization of disparity values in pixels

Definition at line 42 of file stereo_camera_model.cpp.

Descturctor.

Reimplemented from mesh_filter::SensorModel::Parameters.

Definition at line 57 of file stereo_camera_model.cpp.


Member Function Documentation

polymorphic clone method

Returns:
deep copied Parameters of type StereoCameraModel::Parameters

Implements mesh_filter::SensorModel::Parameters.

Definition at line 61 of file stereo_camera_model.cpp.

const Eigen::Vector3f & mesh_filter::StereoCameraModel::Parameters::getPaddingCoefficients ( ) const [virtual]

returns the coefficients that are required for obtaining the padding for meshes

Returns:
the padding coefficients

Implements mesh_filter::SensorModel::Parameters.

Definition at line 98 of file stereo_camera_model.cpp.

sets the base line = distance of the two projective devices (camera, projector-camera)

Parameters:
[in]base_linethe distance in meters

Definition at line 75 of file stereo_camera_model.cpp.

void mesh_filter::StereoCameraModel::Parameters::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

Parameters:
[in]fxfocal length in x-direction
[in]fyfocal length in y-direction
[in]cxx component of principal point
[in]cyy component of principal point

Definition at line 67 of file stereo_camera_model.cpp.

the quantization of disparity values in pixels. Usually 1/16th or 1/8th for OpenNI compatible devices

Parameters:
disparity_resolution

Definition at line 80 of file stereo_camera_model.cpp.

set the shader parameters required for the mesh filtering

Parameters:
[in]rendererthe renderer that holds the filtering shader

Implements mesh_filter::SensorModel::Parameters.

Definition at line 103 of file stereo_camera_model.cpp.

set the shader parameters required for the model rendering

Parameters:
[in]rendererthe renderer that holds the rendering shader.

Implements mesh_filter::SensorModel::Parameters.

Definition at line 85 of file stereo_camera_model.cpp.


Member Data Documentation

distance of the two projective devices that are used to determine the disparities

Definition at line 137 of file stereo_camera_model.h.

x component of principal point

Definition at line 131 of file stereo_camera_model.h.

y component of principal point

Definition at line 134 of file stereo_camera_model.h.

resolution/quantization of disparity values

Definition at line 140 of file stereo_camera_model.h.

focal length in x-direction

Definition at line 125 of file stereo_camera_model.h.

focal length in y-direction

Definition at line 128 of file stereo_camera_model.h.

padding coefficients

Note:
absolute padding in meters = coeff[0] * z^2 + coeff[1] * z + coeff[2]

Definition at line 146 of file stereo_camera_model.h.


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


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Wed Jan 17 2018 03:32:02