opentl::modelprojection::VisibilityCheck Class Reference

Class for doing object feature visability checks in the context of a OpenGL scene with all targets displayed. More...

Inherits opentl::core::util::ParameterContainer.

List of all members.

Classes
struct	ShapeData_t
	Structure for storing object model related shape appearance data required for fast visibility calculation. More...
Public Types
Public Member Functions
void	generatePointQueryList (GLuint &listId, const std::vector< opentl::core::cvdata::ShapeAppearance::Point * > &points, const std::vector< double * > *colors=NULL)
	Function to generate OpenGL point query list.
opentl::core::cvdata::VisContourSamplePts *	getContourData (int targetId=0)
void	init ()
	Initialization.
void	invalidateVisContourPoints ()
	Invalidate all contour point lists.
int	lineQuery ()
	Occlusion query for lines (NOT PRECISE: A SEGMENT CAN BE PARTIALLY VISIBLE!).
int	pointQuery (GLuint queryListId, const std::vector< opentl::core::cvdata::ShapeAppearance::Point * > &points, std::vector< bool > &visPoints)
	Occlusion query for points (GOOD).
void	sampleContourDebugOutput (void)
void	sampleVisContourPoints (const std::vector< boost::shared_ptr< opentl::core::State > > &states, const std::vector< opentl::models::ObjModel * > &objModels)
	Sample visible contour points for all given state hypothesis (=targets) rendered into a single scene.
void	setupQuery (int n)
	Generate the occlusion query.
	VisibilityCheck (const std::vector< opentl::models::ObjModel * > &objModels, opentl::modelprojection::Warp *warp, opentl::modelprojection::GLScene *scene, const int camIdx)
	Constructor.
void	warpScreen (const boost::shared_ptr< opentl::core::State > &state, int targetIdx)
	Warp contour points from body to screen, and update normals and Jacobians.
virtual	~VisibilityCheck ()
	Destructor.

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Detailed Description

Class for doing object feature visability checks in the context of a OpenGL scene with all targets displayed.

Author:

E. Roth <eroth@mytum.de>

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Member Enumeration Documentation

enum opentl::modelprojection::VisibilityCheck::OfflineParameters

Enumerator:

construct_loadShaderCodeFromFile	Load shader code from files or embedded strings.
construct_sampleSilhouetteEdgesOnly	Sample points on silhouette edges only.
construct_MaxSamplePointsPerTarget	Maximum visible edge sample points per target.
OFFLINE_COUNT

enum opentl::modelprojection::VisibilityCheck::OnlineParameters

Enumerator:

sample_computeScreenPointJacobians	Compute screen space jacobians for contour points.
sample_discardBackgroundEdgeWithinPixelRange	Discard edges with larger depth while within this pixel range. Feature can be disabled by setting value to 0.
sample_thetaDegRidge	If internal angle (deg) of two adjacent polygon faces is smaller, a ridge edge is detected.
sample_thetaDegValley	If external angle (deg) of two adjacent polygon faces is smaller, a valley edge is detected.
ONLINE_COUNT

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Constructor & Destructor Documentation

opentl::modelprojection::VisibilityCheck::VisibilityCheck	(	const std::vector< opentl::models::ObjModel * > &	objModels,
		opentl::modelprojection::Warp *	warp,
		opentl::modelprojection::GLScene *	scene,
		const int	camIdx
	)

Constructor.

Parameters:

	objModels	reference to object models
	warp	Pointer to warp instance.
	scene	Pointer to GLScene instance
	camIdx	camera index.

virtual opentl::modelprojection::VisibilityCheck::~VisibilityCheck

(

)

[virtual]

Destructor.

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Member Function Documentation

void opentl::modelprojection::VisibilityCheck::generatePointQueryList	(	GLuint &	listId,
		const std::vector< opentl::core::cvdata::ShapeAppearance::Point * > &	points,
		const std::vector< double * > *	colors = NULL
	)

Function to generate OpenGL point query list.

opentl::core::cvdata::VisContourSamplePts* opentl::modelprojection::VisibilityCheck::getContourData

(

int

targetId = 0

)

[inline]

void opentl::modelprojection::VisibilityCheck::init

(

)

[virtual]

Initialization.

Implements opentl::core::util::ParameterContainer.

void opentl::modelprojection::VisibilityCheck::invalidateVisContourPoints

(

)

[inline]

Invalidate all contour point lists.

int opentl::modelprojection::VisibilityCheck::lineQuery

(

)

Occlusion query for lines (NOT PRECISE: A SEGMENT CAN BE PARTIALLY VISIBLE!).

int opentl::modelprojection::VisibilityCheck::pointQuery	(	GLuint	queryListId,
		const std::vector< opentl::core::cvdata::ShapeAppearance::Point * > &	points,
		std::vector< bool > &	visPoints
	)

Occlusion query for points (GOOD).

void opentl::modelprojection::VisibilityCheck::sampleContourDebugOutput

(

void

)

void opentl::modelprojection::VisibilityCheck::sampleVisContourPoints	(	const std::vector< boost::shared_ptr< opentl::core::State > > &	states,
		const std::vector< opentl::models::ObjModel * > &	objModels
	)

Sample visible contour points for all given state hypothesis (=targets) rendered into a single scene.

Parameters:

	states	vector of targets
	objModels	reference to object models

void opentl::modelprojection::VisibilityCheck::setupQuery

(

int

n

)

Generate the occlusion query.

void opentl::modelprojection::VisibilityCheck::warpScreen	(	const boost::shared_ptr< opentl::core::State > &	state,
		int	targetIdx
	)

Warp contour points from body to screen, and update normals and Jacobians.

Parameters:

	state	State
	targetIdx	State index, within the contour data structure