sensor_model.h
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00034 
00035 /* Author: Suat Gedikli */
00036 
00037 #ifndef MOVEIT_MESH_FILTER_SENSOR_MODEL_
00038 #define MOVEIT_MESH_FILTER_SENSOR_MODEL_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <Eigen/Eigen>
00042 
00043 namespace mesh_filter
00044 {
00045 // forward declarations
00046 class GLRenderer;
00047 
00052 class SensorModel
00053 {
00054 public:
00055   MOVEIT_CLASS_FORWARD(Parameters);
00056 
00061   class Parameters
00062   {
00063   public:
00071     Parameters(unsigned width, unsigned height, float near_clipping_plane_distance, float far_clipping_plane_distance);
00072 
00074     virtual ~Parameters();
00075 
00083     virtual void setRenderParameters(GLRenderer& renderer) const = 0;
00084 
00089     virtual void setFilterParameters(GLRenderer& renderer) const = 0;
00090 
00095     virtual Parameters* clone() const = 0;
00096 
00101     virtual const Eigen::Vector3f& getPaddingCoefficients() const = 0;
00102 
00107     virtual void transformModelDepthToMetricDepth(float* depth) const;
00108 
00113     virtual void transformFilteredDepthToMetricDepth(float* depth) const;
00114 
00120     void setImageSize(unsigned width, unsigned height);
00121 
00127     void setDepthRange(float near, float far);
00128 
00133     unsigned getWidth() const;
00134 
00139     unsigned getHeight() const;
00140 
00145     float getNearClippingPlaneDistance() const;
00146 
00151     float getFarClippingPlaneDistance() const;
00152 
00153   protected:
00155     unsigned width_;
00156 
00158     unsigned height_;
00159 
00161     float far_clipping_plane_distance_;
00162 
00164     float near_clipping_plane_distance_;
00165   };
00166 
00170   virtual ~SensorModel();
00171 };
00172 }  // namespace mesh_filter
00173 
00174 #endif


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Mon Nov 26 2018 03:22:40