stereo_camera_model.h

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/* Author: Suat Gedikli */

#ifndef MOVEIT_MESH_FILTER_STEREO_CAMERA_MODEL_
#define MOVEIT_MESH_FILTER_STEREO_CAMERA_MODEL_

#include <moveit/mesh_filter/sensor_model.h>
#include <string>

namespace mesh_filter
{
class StereoCameraModel : public SensorModel
{
public:
  class Parameters : public SensorModel::Parameters
  {
    public:
      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);
      ~Parameters ();

      SensorModel::Parameters* clone () const;

      void setRenderParameters (GLRenderer& renderer) const;

      void setFilterParameters (GLRenderer& renderer) const;

      void setCameraParameters (float fx, float fy, float cx, float cy);

      void setBaseline (float base_line);

      void setDisparityResolution (float disparity_resolution);

      const Eigen::Vector3f& getPaddingCoefficients () const;
    private:
        float fx_;

        float fy_;

        float cx_;

        float cy_;

        float base_line_;

        float disparity_resolution_;

        const Eigen::Vector3f padding_coefficients_;
  };

  static const StereoCameraModel::Parameters& RegisteredPSDKParams;

  static const std::string renderVertexShaderSource;

  static const std::string renderFragmentShaderSource;

  static const std::string filterVertexShaderSource;

  static const std::string filterFragmentShaderSource;
};
} //namespace mesh_filter
#endif