stereo_camera_model.h
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00034 
00035 /* Author: Suat Gedikli */
00036 
00037 #ifndef MOVEIT_MESH_FILTER_STEREO_CAMERA_MODEL_
00038 #define MOVEIT_MESH_FILTER_STEREO_CAMERA_MODEL_
00039 
00040 #include <moveit/mesh_filter/sensor_model.h>
00041 #include <string>
00042 
00043 namespace mesh_filter
00044 {
00049 class StereoCameraModel : public SensorModel
00050 {
00051 public:
00056   class Parameters : public SensorModel::Parameters
00057   {
00058   public:
00072     Parameters(unsigned width, unsigned height, float near_clipping_plane_distance, float far_clipping_plane_distance,
00073                float fx, float fy, float cx, float cy, float base_line, float disparity_resolution);
00075     ~Parameters();
00076 
00081     SensorModel::Parameters* clone() const;
00082 
00087     void setRenderParameters(GLRenderer& renderer) const;
00088 
00093     void setFilterParameters(GLRenderer& renderer) const;
00094 
00103     void setCameraParameters(float fx, float fy, float cx, float cy);
00104 
00109     void setBaseline(float base_line);
00110 
00115     void setDisparityResolution(float disparity_resolution);
00116 
00121     const Eigen::Vector3f& getPaddingCoefficients() const;
00122 
00123   private:
00125     float fx_;
00126 
00128     float fy_;
00129 
00131     float cx_;
00132 
00134     float cy_;
00135 
00137     float base_line_;
00138 
00140     float disparity_resolution_;
00141 
00146     const Eigen::Vector3f padding_coefficients_;
00147   };
00148 
00150   static const StereoCameraModel::Parameters& RegisteredPSDKParams;
00151 
00153   static const std::string renderVertexShaderSource;
00154 
00156   static const std::string renderFragmentShaderSource;
00157 
00159   static const std::string filterVertexShaderSource;
00160 
00162   static const std::string filterFragmentShaderSource;
00163 };
00164 }  // namespace mesh_filter
00165 #endif


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Mon Apr 23 2018 10:25:10