Public Member Functions | Private Attributes | List of all members
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]

Public Member Functions

SensorModel::Parametersclone () const
 polymorphic clone method More...
 
const Eigen::Vector3f & getPaddingCoefficients () const
 returns the coefficients that are required for obtaining the padding for meshes More...
 
 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. More...
 
void setBaseline (float base_line)
 sets the base line = distance of the two projective devices (camera, projector-camera) More...
 
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 More...
 
void setDisparityResolution (float disparity_resolution)
 the quantization of disparity values in pixels. Usually 1/16th or 1/8th for OpenNI compatible devices More...
 
void setFilterParameters (GLRenderer &renderer) const
 set the shader parameters required for the mesh filtering More...
 
void setRenderParameters (GLRenderer &renderer) const
 set the shader parameters required for the model rendering More...
 
 ~Parameters ()
 Descturctor. More...
 
- Public Member Functions inherited from mesh_filter::SensorModel::Parameters
float getFarClippingPlaneDistance () const
 returns the distance to the far clipping plane More...
 
unsigned getHeight () const
 returns the height of depth maps More...
 
float getNearClippingPlaneDistance () const
 returns distance to the near clipping plane More...
 
unsigned getWidth () const
 returns the width of depth maps More...
 
 Parameters (unsigned width, unsigned height, float near_clipping_plane_distance, float far_clipping_plane_distance)
 Constructor taking core parameters that are required for all sensors. More...
 
void setDepthRange (float near, float far)
 sets the clipping range More...
 
void setImageSize (unsigned width, unsigned height)
 sets the image size More...
 
virtual void transformFilteredDepthToMetricDepth (float *depth) const
 transforms depth values from filtered depth to metric depth values More...
 
virtual void transformModelDepthToMetricDepth (float *depth) const
 transforms depth values from rendered model to metric depth values More...
 

Private Attributes

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

Additional Inherited Members

- Protected Attributes inherited from mesh_filter::SensorModel::Parameters
float far_clipping_plane_distance_
 distance of far clipping plane More...
 
unsigned height_
 height of depth maps generated by the sensor More...
 
float near_clipping_plane_distance_
 distance of near clipping plane More...
 
unsigned width_
 width of depth maps generated by the sensor More...
 

Detailed Description

Parameters for Stereo-like devices.

Author
Suat Gedikli gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m

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.

mesh_filter::StereoCameraModel::Parameters::~Parameters ( )
virtual

Descturctor.

Reimplemented from mesh_filter::SensorModel::Parameters.

Definition at line 57 of file stereo_camera_model.cpp.

Member Function Documentation

mesh_filter::SensorModel::Parameters * mesh_filter::StereoCameraModel::Parameters::clone ( ) const
virtual

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.

void mesh_filter::StereoCameraModel::Parameters::setBaseline ( float  base_line)

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.

void mesh_filter::StereoCameraModel::Parameters::setDisparityResolution ( float  disparity_resolution)

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.

void mesh_filter::StereoCameraModel::Parameters::setFilterParameters ( GLRenderer renderer) const
virtual

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.

void mesh_filter::StereoCameraModel::Parameters::setRenderParameters ( GLRenderer renderer) const
virtual

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

float mesh_filter::StereoCameraModel::Parameters::base_line_
private

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

Definition at line 137 of file stereo_camera_model.h.

float mesh_filter::StereoCameraModel::Parameters::cx_
private

x component of principal point

Definition at line 131 of file stereo_camera_model.h.

float mesh_filter::StereoCameraModel::Parameters::cy_
private

y component of principal point

Definition at line 134 of file stereo_camera_model.h.

float mesh_filter::StereoCameraModel::Parameters::disparity_resolution_
private

resolution/quantization of disparity values

Definition at line 140 of file stereo_camera_model.h.

float mesh_filter::StereoCameraModel::Parameters::fx_
private

focal length in x-direction

Definition at line 125 of file stereo_camera_model.h.

float mesh_filter::StereoCameraModel::Parameters::fy_
private

focal length in y-direction

Definition at line 128 of file stereo_camera_model.h.

const Eigen::Vector3f mesh_filter::StereoCameraModel::Parameters::padding_coefficients_
private

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 Tue Jun 12 2018 02:48:05