opentl::core::cvdata::ShapeAppearance Class Reference

Class for storing the shape and appearance information of an object. More...

List of all members.

Classes

struct Edge

Structure for an edge. More...

struct EdgeReferredByFace

Structure to hold geometric information about faces this edge is part of. More...

struct Face

Structure for a face. More...

struct Material

struct Point

struct TexCoord

Public Member Functions

void deleteStoredData ()

Delete stored shape appearance data in this class.

int dimension ()

Returns number of dimensions of object shape 2 = 2d, 3 = 3d.

void getCircumCircleRadius (double &circumCircleObjectRadius, int partIdx=0)

Calculate Radius of object mesh circumcircle.

opentl::core::cvdata::Image * getMaterialByName (const char *materialName)

Retrieve a given appearance image by name.

opentl::core::cvdata::Image * getObjTexture () const

Get texture of an object for a certain pose and sensor.

void getShapeBoundingLimits (double &xsize, double &ysize, double &zsize, double &circumCircleObjectRadius, int partIdx=0)

Calculate rectangular bounding limits of object's shape.

void getShapeBoundingLimitsOfFace (unsigned int faceId, double &x, double &y, double &width, double &height)

opentl::core::cvdata::Skeleton * getSkeleton () const

Get skeleton data for articulated objects.

void init2DContour (std::vector< math::Vector2 > &contourPoints, bool bIsClosed=true, int partIdx=-1)

Create a 2d contour (open or closed).

void initAppearance (std::vector< opentl::core::cvdata::Image * > *imageList, std::vector< char * > *materialNames)

Internal function to instantiate appearance models (only reference images, no texture maps!).

void initConnectedHalfEllipses (double rX1, double rY1, double rX2, double rY2, double height, int lineSegments=10, int partIdx=-1, math::Vector2 *offset=NULL)

Create a object consisting of 2 2d half-ellipses and the connected by straigt lines.

void initConnectedHalfEllipsoids (double rX1, double rY1, double rZ1, double rX2, double rY2, double rZ2, double height, int nDiv=10, int partIdx=-1, math::Vector3 *offset=NULL)

Create a object consisting of 2 3d half-ellipsoid and the connection of the equators. The object's coordinate origin is in the center of the first ellipsoid, which forms the base.

void initCube (int w, int h, int d, int partIdx=-1, math::Vector3 *offset=NULL)

Create a 3d cube object. The object's coordinate origin is in the center of the cube.

void initDeformable2DMesh (std::vector< math::Vector2 > &verticesList, std::vector< std::vector< std::size_t > > &trianglesList, bool markNonFeature=true)

initialize 2d deformable, triangular mesh (each triangle = link)

void initEllipse (double lengthDiagX, double lengthDiagY, int lineSegments=64, int partIdx=-1, math::Vector2 *offset=NULL)

Create a 2d ellipse. The object's coordinate origin is in the center of the ellipse.

void initEllipsoid (double rX, double rY, double rZ, int nDiv=10, int partIdx=-1)

Create a 3d ellipsoid. The object's coordinate origin is in the center of the ellipsoid.

void initMultiRect (std::vector< double > *w, std::vector< double > *h, std::vector< math::Vector2 * > *offsets=NULL, int partIdx=-1)

Create multiple 2d rectangles (single-mesh).

void initRectangle (int w, int h, math::Vector2 *offset=NULL, int partIdx=-1)

Create simple 2d rectangle object. The object's coordinate origin is in the center of the rectangle.

int links () const

Return number of links.

void markNonFeatureParts (std::vector< math::Vector2 > &boundBox, int linkIdx=0)

Load ShapeAppearance from COLLADA file.

virtual ShapeAppearance & operator= (const opentl::core::cvdata::ShapeAppearance &shape)

Assign operator.

void setSkeleton (opentl::core::cvdata::Skeleton *skel)

Set skeleon data for articulated objects.

ShapeAppearance (const ShapeAppearance &value)

Copy constructor.

ShapeAppearance (opentl::core::cvdata::Skeleton *skel=NULL)

Constructor.

virtual ~ShapeAppearance ()

Destructor.

Public Attributes

std::vector< math::Matrix > m_boundingLimits

Matrix to store rectangular bounding limits of object's shape. 1. Index = partIdx 2. Index = x,y,z direction 3. Index = max or min value.

std::vector< double > m_circumCircleObjectRadius

Scalar radius of circumcircle 1. Index = partIdx.

std::vector< Face * > m_faces

Physical model structure.

std::map< std::string, Material * > m_material

std::vector< Edge * > m_uniqueEdges

List of unique edges (for all articulated body parts!).

std::vector< std::vector
< EdgeReferredByFace > > m_uniqueEdgesReferredByFace

Stores which unique edge (1. index, same es m_uniqueEdges index) is referenced by which face(s).

std::vector< Point * > m_uniquePoints

List of unique points.

std::size_t mShapeId

Unique ShapeAppearance id per instance.

Detailed Description

Class for storing the shape and appearance information of an object.

Constructor & Destructor Documentation

opentl::core::cvdata::ShapeAppearance::ShapeAppearance ( opentl::core::cvdata::Skeleton * skel = NULL )

Constructor.

opentl::core::cvdata::ShapeAppearance::ShapeAppearance ( const ShapeAppearance & value )

Copy constructor.

virtual opentl::core::cvdata::ShapeAppearance::~ShapeAppearance ( ) [virtual]

Destructor.

Member Function Documentation

void opentl::core::cvdata::ShapeAppearance::deleteStoredData ( )

Delete stored shape appearance data in this class.

int opentl::core::cvdata::ShapeAppearance::dimension ( )

Returns number of dimensions of object shape 2 = 2d, 3 = 3d.

void opentl::core::cvdata::ShapeAppearance::getCircumCircleRadius	(	double &	circumCircleObjectRadius,
		int	partIdx = `0`
	)

Calculate Radius of object mesh circumcircle.

Parameters:

	circumCircleObjectRadius	Radius of object mesh circumcircle
	partIdx	For multi-part objects: which part we are interested in

opentl::core::cvdata::Image* opentl::core::cvdata::ShapeAppearance::getMaterialByName ( const char * materialName )

Retrieve a given appearance image by name.

Parameters:

materialName

Name of the material

opentl::core::cvdata::Image* opentl::core::cvdata::ShapeAppearance::getObjTexture ( ) const

Get texture of an object for a certain pose and sensor.

void opentl::core::cvdata::ShapeAppearance::getShapeBoundingLimits	(	double &	xsize,
		double &	ysize,
		double &	zsize,
		double &	circumCircleObjectRadius,
		int	partIdx = `0`
	)

Calculate rectangular bounding limits of object's shape.

Parameters:

	x	Size in x-direction
	y	Size in y-direction
	z	Size in z-direction
	circumCircleObjectRadius	Radius of object mesh circumcircle
	partIdx	For multi-part objects: which part we are interested in

ATTENTION: This function is implemented inefficiently, it should't be used for an online update.

void opentl::core::cvdata::ShapeAppearance::getShapeBoundingLimitsOfFace	(	unsigned int	faceId,
		double &	x,
		double &	y,
		double &	width,
		double &	height
	)

opentl::core::cvdata::Skeleton* opentl::core::cvdata::ShapeAppearance::getSkeleton ( ) const [inline]

Get skeleton data for articulated objects.

void opentl::core::cvdata::ShapeAppearance::init2DContour	(	std::vector< math::Vector2 > &	contourPoints,
		bool	bIsClosed = `true`,
		int	partIdx = `-1`
	)

Create a 2d contour (open or closed).

Parameters:

	contourPoints	Vertices
	bIsClosed	flag to specify whether the contour is closed or not
	partIdx	For multi-part objects: which part number are we appending (-1 = create new shape)

void opentl::core::cvdata::ShapeAppearance::initAppearance	(	std::vector< opentl::core::cvdata::Image * > *	imageList,
		std::vector< char * > *	materialNames
	)

Internal function to instantiate appearance models (only reference images, no texture maps!).

Parameters:

	imagelist	List of images.
	materialnames	List of corresponding names for the material.

void opentl::core::cvdata::ShapeAppearance::initConnectedHalfEllipses	(	double	rX1,
		double	rY1,
		double	rX2,
		double	rY2,
		double	height,
		int	lineSegments = `10`,
		int	partIdx = `-1`,
		math::Vector2 *	offset = `NULL`
	)

Create a object consisting of 2 2d half-ellipses and the connected by straigt lines.

Parameters:

	rX1	Half length of x-axis of first ellipse
	rY1	Half length of y-axis of first ellipse
	rX2	Half length of x-axis of second ellipse
	rY2	Half length of y-axis of second ellipse
	height	Distance of the two ellipse centers
	lineSegments	(default = 10)
	partIdx	For multi-part objects: which part number are we appending (-1 = create new shape)
	offset	offset of the origin of the shape

void opentl::core::cvdata::ShapeAppearance::initConnectedHalfEllipsoids	(	double	rX1,
		double	rY1,
		double	rZ1,
		double	rX2,
		double	rY2,
		double	rZ2,
		double	height,
		int	nDiv = `10`,
		int	partIdx = `-1`,
		math::Vector3 *	offset = `NULL`
	)

Create a object consisting of 2 3d half-ellipsoid and the connection of the equators. The object's coordinate origin is in the center of the first ellipsoid, which forms the base.

Parameters:

	rX1	Half length of x-axis of first ellipsoid
	rY1	Half length of y-axis of first ellipsoid
	rZ1	Half length of z-axis of first ellipsoid
	rX2	Half length of x-axis of second ellipsoid
	rY2	Half length of y-axis of second ellipsoid
	rZ2	Half length of z-axis of second ellipsoid
	height	Distance of the two ellipsoid centers
	nDiv	(default = 10)
	partIdx	For multi-part objects: which part number are we appending (-1 = create new shape)

void opentl::core::cvdata::ShapeAppearance::initCube	(	int	w,
		int	h,
		int	d,
		int	partIdx = `-1`,
		math::Vector3 *	offset = `NULL`
	)

Create a 3d cube object. The object's coordinate origin is in the center of the cube.

Parameters:

	w	Width of cube
	h	Height of cube
	d	Depth of cube
	partIdx	For multi-part objects: which part number are we appending (-1 = create new shape)

void opentl::core::cvdata::ShapeAppearance::initDeformable2DMesh	(	std::vector< math::Vector2 > &	verticesList,
		std::vector< std::vector< std::size_t > > &	trianglesList,
		bool	markNonFeature = `true`
	)

initialize 2d deformable, triangular mesh (each triangle = link)

Parameters:

	verticesList	List of triangle vertices
	trianglesList	List of triangles (triplets of vertex indices)

void opentl::core::cvdata::ShapeAppearance::initEllipse	(	double	lengthDiagX,
		double	lengthDiagY,
		int	lineSegments = `64`,
		int	partIdx = `-1`,
		math::Vector2 *	offset = `NULL`
	)

Create a 2d ellipse. The object's coordinate origin is in the center of the ellipse.

Parameters:

	lengthDiagX	Length of x-axis diagonal
	lengthDiagY	Length of y-axis diagonal
	lineSegments	(default = 64)
	partIdx	For multi-part objects: which part number are we appending (-1 = create new shape)

void opentl::core::cvdata::ShapeAppearance::initEllipsoid	(	double	rX,
		double	rY,
		double	rZ,
		int	nDiv = `10`,
		int	partIdx = `-1`
	)

Create a 3d ellipsoid. The object's coordinate origin is in the center of the ellipsoid.

Parameters:

	rX	Half length of x-axis
	rY	Half length of y-axis
	rZ	Half length of z-axis
	nDiv	(default = 10)
	partIdx	For multi-part objects: which part number are we appending (-1 = create new shape)

void opentl::core::cvdata::ShapeAppearance::initMultiRect	(	std::vector< double > *	w,
		std::vector< double > *	h,
		std::vector< math::Vector2 * > *	offsets = `NULL`,
		int	partIdx = `-1`
	)

Create multiple 2d rectangles (single-mesh).

Parameters:

	w	Width of rectangles
	h	Height of rectangles
	offsetX	offset x relative to the shape model origin
	offsetY	offset y relative to the shape model origin
	partIdx	For multi-part objects: which part number are we appending (-1 = create new shape)

void opentl::core::cvdata::ShapeAppearance::initRectangle	(	int	w,
		int	h,
		math::Vector2 *	offset = `NULL`,
		int	partIdx = `-1`
	)

Create simple 2d rectangle object. The object's coordinate origin is in the center of the rectangle.

Parameters:

	w	Width of rectangle
	h	Height of rectangle
	offsetX	offset x relative to the shape model origin
	offsetY	offset y relative to the shape model origin
	partIdx	For multi-part objects: which part number are we appending (-1 = create new shape)

int opentl::core::cvdata::ShapeAppearance::links ( ) const [inline]

Return number of links.

void opentl::core::cvdata::ShapeAppearance::markNonFeatureParts	(	std::vector< math::Vector2 > &	boundBox,
		int	linkIdx = `0`
	)

Load ShapeAppearance from COLLADA file.

Parameters:

	fileName	COLLADA file name
	filePath	Path to COLLADA file (by default, the current directory is used)

Returns:: 1 = OK, -1 = ERROR Mark non-feature parts (polygons, edges, points), that can be used for rendering, but not for sampling features.

Parameters:

boundBox

Bounding volume in object space, where parts inside should be removed. NOTE: - Points are marked first

If an edge has at least one non-feature point, it is marked as non-feature
If a polygon has at least one non-feature edge, it is marked as non-feature

virtual ShapeAppearance& opentl::core::cvdata::ShapeAppearance::operator= ( const opentl::core::cvdata::ShapeAppearance & shape ) [virtual]

Assign operator.

void opentl::core::cvdata::ShapeAppearance::setSkeleton ( opentl::core::cvdata::Skeleton * skel ) [inline]

Set skeleon data for articulated objects.

Member Data Documentation

std::vector<math::Matrix > opentl::core::cvdata::ShapeAppearance::m_boundingLimits

Matrix to store rectangular bounding limits of object's shape. 1. Index = partIdx 2. Index = x,y,z direction 3. Index = max or min value.

std::vector<double> opentl::core::cvdata::ShapeAppearance::m_circumCircleObjectRadius

Scalar radius of circumcircle 1. Index = partIdx.

std::vector<Face*> opentl::core::cvdata::ShapeAppearance::m_faces

Physical model structure.

std::map<std::string, Material*> opentl::core::cvdata::ShapeAppearance::m_material

hold map of material types

std::vector<Edge* > opentl::core::cvdata::ShapeAppearance::m_uniqueEdges

List of unique edges (for all articulated body parts!).

std::vector<std::vector<EdgeReferredByFace > > opentl::core::cvdata::ShapeAppearance::m_uniqueEdgesReferredByFace

Stores which unique edge (1. index, same es m_uniqueEdges index) is referenced by which face(s).

std::vector<Point* > opentl::core::cvdata::ShapeAppearance::m_uniquePoints

List of unique points.

std::size_t opentl::core::cvdata::ShapeAppearance::mShapeId

Unique ShapeAppearance id per instance.


Classes
struct	Edge
	Structure for an edge. More...
struct	EdgeReferredByFace
	Structure to hold geometric information about faces this edge is part of. More...
struct	Face
	Structure for a face. More...
struct	Material
struct	Point
struct	TexCoord
Public Member Functions
void	deleteStoredData ()
	Delete stored shape appearance data in this class.
int	dimension ()
	Returns number of dimensions of object shape 2 = 2d, 3 = 3d.
void	getCircumCircleRadius (double &circumCircleObjectRadius, int partIdx=0)
	Calculate Radius of object mesh circumcircle.
opentl::core::cvdata::Image *	getMaterialByName (const char *materialName)
	Retrieve a given appearance image by name.
opentl::core::cvdata::Image *	getObjTexture () const
	Get texture of an object for a certain pose and sensor.
void	getShapeBoundingLimits (double &xsize, double &ysize, double &zsize, double &circumCircleObjectRadius, int partIdx=0)
	Calculate rectangular bounding limits of object's shape.
void	getShapeBoundingLimitsOfFace (unsigned int faceId, double &x, double &y, double &width, double &height)
opentl::core::cvdata::Skeleton *	getSkeleton () const
	Get skeleton data for articulated objects.
void	init2DContour (std::vector< math::Vector2 > &contourPoints, bool bIsClosed=true, int partIdx=-1)
	Create a 2d contour (open or closed).
void	initAppearance (std::vector< opentl::core::cvdata::Image * > imageList, std::vector< char > *materialNames)
	Internal function to instantiate appearance models (only reference images, no texture maps!).
void	initConnectedHalfEllipses (double rX1, double rY1, double rX2, double rY2, double height, int lineSegments=10, int partIdx=-1, math::Vector2 *offset=NULL)
	Create a object consisting of 2 2d half-ellipses and the connected by straigt lines.
void	initConnectedHalfEllipsoids (double rX1, double rY1, double rZ1, double rX2, double rY2, double rZ2, double height, int nDiv=10, int partIdx=-1, math::Vector3 *offset=NULL)
	Create a object consisting of 2 3d half-ellipsoid and the connection of the equators. The object's coordinate origin is in the center of the first ellipsoid, which forms the base.
void	initCube (int w, int h, int d, int partIdx=-1, math::Vector3 *offset=NULL)
	Create a 3d cube object. The object's coordinate origin is in the center of the cube.
void	initDeformable2DMesh (std::vector< math::Vector2 > &verticesList, std::vector< std::vector< std::size_t > > &trianglesList, bool markNonFeature=true)
	initialize 2d deformable, triangular mesh (each triangle = link)
void	initEllipse (double lengthDiagX, double lengthDiagY, int lineSegments=64, int partIdx=-1, math::Vector2 *offset=NULL)
	Create a 2d ellipse. The object's coordinate origin is in the center of the ellipse.
void	initEllipsoid (double rX, double rY, double rZ, int nDiv=10, int partIdx=-1)
	Create a 3d ellipsoid. The object's coordinate origin is in the center of the ellipsoid.
void	initMultiRect (std::vector< double > w, std::vector< double > h, std::vector< math::Vector2 * > *offsets=NULL, int partIdx=-1)
	Create multiple 2d rectangles (single-mesh).
void	initRectangle (int w, int h, math::Vector2 *offset=NULL, int partIdx=-1)
	Create simple 2d rectangle object. The object's coordinate origin is in the center of the rectangle.
int	links () const
	Return number of links.
void	markNonFeatureParts (std::vector< math::Vector2 > &boundBox, int linkIdx=0)
	Load ShapeAppearance from COLLADA file.
virtual ShapeAppearance &	operator= (const opentl::core::cvdata::ShapeAppearance &shape)
	Assign operator.
void	setSkeleton (opentl::core::cvdata::Skeleton *skel)
	Set skeleon data for articulated objects.
	ShapeAppearance (const ShapeAppearance &value)
	Copy constructor.
	ShapeAppearance (opentl::core::cvdata::Skeleton *skel=NULL)
	Constructor.
virtual	~ShapeAppearance ()
	Destructor.
Public Attributes
std::vector< math::Matrix >	m_boundingLimits
	Matrix to store rectangular bounding limits of object's shape. 1. Index = partIdx 2. Index = x,y,z direction 3. Index = max or min value.
std::vector< double >	m_circumCircleObjectRadius
	Scalar radius of circumcircle 1. Index = partIdx.
std::vector< Face * >	m_faces
	Physical model structure.
std::map< std::string, Material * >	m_material
std::vector< Edge * >	m_uniqueEdges
	List of unique edges (for all articulated body parts!).
std::vector< std::vector < EdgeReferredByFace > >	m_uniqueEdgesReferredByFace
	Stores which unique edge (1. index, same es m_uniqueEdges index) is referenced by which face(s).
std::vector< Point * >	m_uniquePoints
	List of unique points.
std::size_t	mShapeId
	Unique ShapeAppearance id per instance.