Inherited by opentl::modelprojection::WarpBack.
Public Member Functions | |
| void | copyT2Vector (math::Transform &T, std::vector< double > &vec) const |
| Copy T matrix to vector of doubles. | |
| void | copyVector2T (std::vector< double > &vec, math::Transform &T) const |
| Copy vector of doubles to T matrix. | |
| input::ImageSensor & | getImageSensor (unsigned int sensorId=0) const |
| Return Pointer to ImageSensor instance. | |
| std::size_t | getImageSensorCount () const |
| Return the number of sensors/cameras accessible by the Warp class. | |
| void | getPoseCameraT (opentl::core::cvdata::Pose &objPose, math::Transform &camT, int cameraIdx=0, int linkIdx=0) const |
| Gets extrinsic transformation matrix T (object to sensor space). (requires to run warpUpdate() first). | |
| void | getPoseWorldT (opentl::core::cvdata::Pose &objPose, math::Transform &worldT, std::vector< math::Transform > *jacT=NULL, int linkIdx=0) const |
| Gets world transformation matrix T (object to world space). (requires to run warpUpdate() first). | |
| void | getScreenBoundingCircle (const boost::shared_ptr< opentl::core::State > &state, const opentl::models::ObjModel &objModel, double &x, double &y, double &radius, int camIdx, int partIdx=0) |
| Calculate bounding circle (center and radius) of the object screen projection, at a given pose. | |
| void | getScreenBoundingLimits (const boost::shared_ptr< opentl::core::State > &state, const opentl::models::ObjModel &objModel, double &x, double &y, double &width, double &height, int camIdx, int partIdx=0) |
| Calculate rectangular bounding limits in screen coordinates, at a given pose. | |
| void | getScreenBoundingLimitsOfFace (const boost::shared_ptr< opentl::core::State > &state, const opentl::models::ObjModel &objModel, unsigned int faceId, double &x, double &y, double &width, double &height, int camIdx, int partIdx=0) |
| Calculate rectangular bounding limits of a given mesh polygon in screen coordinates, at a given pose. | |
| void | getScreenRotatedBoundingLimits (const boost::shared_ptr< opentl::core::State > &state, const opentl::models::ObjModel &objModel, double &x, double &y, double &width, double &height, double &angle, int camIdx, int partIdx=0) |
| Calculate rotated bounding box of a given mesh in screen coordinates, at a given pose. | |
| Warp (std::vector< input::ImageSensor * > &sensors) | |
| Constructor, link the Warp to the respective object/sensor pair. | |
| void | warpPoint (opentl::core::cvdata::Pose &objPose, const double *objPoint, double *screenPoint, std::vector< double > *screenGradientX=NULL, std::vector< double > *screenGradientY=NULL, int cameraIdx=0, int linkIdx=0) const |
| THIS IS FAST! Project (extrinsic+intrinsic transformation) an object body point to screen. Projection for a given object point under a given object pose. | |
| void | warpPoint (opentl::core::cvdata::Pose &objPose, const math::Vector4 &objPoint, math::Vector2 &screenPoint, std::vector< math::Vector2 > *jacobian=NULL, int cameraIdx=0, int linkIdx=0) const |
| Project (extrinsic+intrinsic transformation) an object body point to screen. Projection for a given object point under a given object pose. This is a wrapper around the warpPoint() double based version. | |
| void | warpPoints (opentl::core::cvdata::Pose &objPose, int nPoints, const std::vector< double > &objPointsX, const std::vector< double > &objPointsY, const std::vector< double > &objPointsZ, std::vector< double > &screenPointsX, std::vector< double > &screenPointsY, std::vector< std::vector< double > > *screenGradientsX=NULL, std::vector< std::vector< double > > *screenGradientsY=NULL, int cameraIdx=0, int linkIdx=0) const |
| Project (extrinsic+intrinsic transformation) multiple points on screen. | |
| void | warpUpdate (opentl::core::State &state, int cameraIdx=-1) const |
| Recalculate world and/or camera transformation matrices T from given target states and sensor models, possibly both (finite+compositional) pose update. | |
| void | warpUpdate (std::vector< boost::shared_ptr< opentl::core::State > > &states, int cameraIdx=-1) const |
| Update a vector of target states (internally, it calls warpUpdate() for each single state). | |
| virtual | ~Warp () |
| Destructor. | |
Protected Attributes | |
| std::vector < input::ImageSensor * > & | mSensors |
| Pointers to the Sensor Models. | |
Class for calculating and executing the back-projection (extrinsic and intrinsic transformation) from 2D camera (sensor) to 2D/3D object (body) space.
| opentl::modelprojection::Warp::Warp | ( | std::vector< input::ImageSensor * > & | sensors | ) |
Constructor, link the Warp to the respective object/sensor pair.
| sensors | Vector of ImageSensors pointers. |
| virtual opentl::modelprojection::Warp::~Warp | ( | ) | [virtual] |
Destructor.
| void opentl::modelprojection::Warp::copyT2Vector | ( | math::Transform & | T, | |
| std::vector< double > & | vec | |||
| ) | const [inline] |
Copy T matrix to vector of doubles.
| void opentl::modelprojection::Warp::copyVector2T | ( | std::vector< double > & | vec, | |
| math::Transform & | T | |||
| ) | const [inline] |
Copy vector of doubles to T matrix.
| input::ImageSensor& opentl::modelprojection::Warp::getImageSensor | ( | unsigned int | sensorId = 0 |
) | const [inline] |
Return Pointer to ImageSensor instance.
| sensorId | Index within warp sensor vector. |
| std::size_t opentl::modelprojection::Warp::getImageSensorCount | ( | ) | const [inline] |
Return the number of sensors/cameras accessible by the Warp class.
| void opentl::modelprojection::Warp::getPoseCameraT | ( | opentl::core::cvdata::Pose & | objPose, | |
| math::Transform & | camT, | |||
| int | cameraIdx = 0, |
|||
| int | linkIdx = 0 | |||
| ) | const |
Gets extrinsic transformation matrix T (object to sensor space). (requires to run warpUpdate() first).
| objPose | Object Pose from you want to get the Extrinsic-T-Matrix. | |
| camT | return value: Extrinsic Tranformation Matrix T (object to sensor space) of specified link | |
| cameraIdx | get the transformation matrix for camera with index cameraIdx. | |
| linkIdx | Optional, specifies the link index for articulated objectModels, default=0 (=base frame). |
| void opentl::modelprojection::Warp::getPoseWorldT | ( | opentl::core::cvdata::Pose & | objPose, | |
| math::Transform & | worldT, | |||
| std::vector< math::Transform > * | jacT = NULL, |
|||
| int | linkIdx = 0 | |||
| ) | const |
Gets world transformation matrix T (object to world space). (requires to run warpUpdate() first).
| objPose | Object Pose from you want to get the World-T-Matrix. | |
| worldT | return value: Tranformation Matrix T (object to sensor space) of specified link | |
| jacT | Optional, pointer is set with Jacobian of world T. | |
| linkIdx | Optional, specifies the link index for articulated objectModels, default=0 (=base frame). |
| void opentl::modelprojection::Warp::getScreenBoundingCircle | ( | const boost::shared_ptr< opentl::core::State > & | state, | |
| const opentl::models::ObjModel & | objModel, | |||
| double & | x, | |||
| double & | y, | |||
| double & | radius, | |||
| int | camIdx, | |||
| int | partIdx = 0 | |||
| ) |
Calculate bounding circle (center and radius) of the object screen projection, at a given pose.
| state | State of the object | |
| objModel | Object model | |
| x | Circle center (x) | |
| y | Circle center (y) | |
| radius | Circle radius | |
| camIdx | Camera index | |
| partIdx | Link index |
| void opentl::modelprojection::Warp::getScreenBoundingLimits | ( | const boost::shared_ptr< opentl::core::State > & | state, | |
| const opentl::models::ObjModel & | objModel, | |||
| double & | x, | |||
| double & | y, | |||
| double & | width, | |||
| double & | height, | |||
| int | camIdx, | |||
| int | partIdx = 0 | |||
| ) |
Calculate rectangular bounding limits in screen coordinates, at a given pose.
| state | State of the object | |
| objModel | Object model | |
| x | upper-left corner (x) | |
| y | upper-left corner (y) | |
| width | Size in x-direction | |
| height | Size in y-direction | |
| camIdx | Camera index | |
| partIdx | Link index |
| void opentl::modelprojection::Warp::getScreenBoundingLimitsOfFace | ( | const boost::shared_ptr< opentl::core::State > & | state, | |
| const opentl::models::ObjModel & | objModel, | |||
| unsigned int | faceId, | |||
| double & | x, | |||
| double & | y, | |||
| double & | width, | |||
| double & | height, | |||
| int | camIdx, | |||
| int | partIdx = 0 | |||
| ) |
Calculate rectangular bounding limits of a given mesh polygon in screen coordinates, at a given pose.
| state | State of the object | |
| objModel | Object model | |
| faceId | Single-face id | |
| x | upper-left corner (x) | |
| y | upper-left corner (y) | |
| width | Size in x-direction | |
| height | Size in y-direction | |
| camIdx | Camera index | |
| partIdx | Link index |
| void opentl::modelprojection::Warp::getScreenRotatedBoundingLimits | ( | const boost::shared_ptr< opentl::core::State > & | state, | |
| const opentl::models::ObjModel & | objModel, | |||
| double & | x, | |||
| double & | y, | |||
| double & | width, | |||
| double & | height, | |||
| double & | angle, | |||
| int | camIdx, | |||
| int | partIdx = 0 | |||
| ) |
Calculate rotated bounding box of a given mesh in screen coordinates, at a given pose.
| state | State of the object | |
| objModel | Object model | |
| (x,y) | Output center of bounding box | |
| (width,height) | Output size of bounding box | |
| angle | Output rotation angle (w.r.t. the x axis) | |
| camIdx | Camera index | |
| partIdx | Link index |
| void opentl::modelprojection::Warp::warpPoint | ( | opentl::core::cvdata::Pose & | objPose, | |
| const double * | objPoint, | |||
| double * | screenPoint, | |||
| std::vector< double > * | screenGradientX = NULL, |
|||
| std::vector< double > * | screenGradientY = NULL, |
|||
| int | cameraIdx = 0, |
|||
| int | linkIdx = 0 | |||
| ) | const |
THIS IS FAST! Project (extrinsic+intrinsic transformation) an object body point to screen. Projection for a given object point under a given object pose.
| objPose | Pointer to related object pose. | |
| objPoint | 3D ObjModel body point in homogeneous coordinates (Vector4). | |
| screenPoint | 2D Screen point | |
| screenGradientX | pointer to screen gradient in x-direction | |
| screenGradientY | pointer to screen gradient in y-direction | |
| cameraIdx | camera index | |
| linkIdx | Optional, specifies the link index (for articulated models). |
| void opentl::modelprojection::Warp::warpPoint | ( | opentl::core::cvdata::Pose & | objPose, | |
| const math::Vector4 & | objPoint, | |||
| math::Vector2 & | screenPoint, | |||
| std::vector< math::Vector2 > * | jacobian = NULL, |
|||
| int | cameraIdx = 0, |
|||
| int | linkIdx = 0 | |||
| ) | const |
Project (extrinsic+intrinsic transformation) an object body point to screen. Projection for a given object point under a given object pose. This is a wrapper around the warpPoint() double based version.
| objPose | Pointer to related object pose. | |
| objPoint | 3D ObjModel body point in homogeneous coordinates (Vector4). | |
| screenPoint | 2D Screen point (Vector2). | |
| jacobian | Optional, generates the gradient in the projection plane related to the degree of freedoms (=STL vector rows) | |
| cameraIdx | Optional, specifies the camera index. | |
| linkIdx | Optional, specifies the link index (for articulated models).s |
| void opentl::modelprojection::Warp::warpPoints | ( | opentl::core::cvdata::Pose & | objPose, | |
| int | nPoints, | |||
| const std::vector< double > & | objPointsX, | |||
| const std::vector< double > & | objPointsY, | |||
| const std::vector< double > & | objPointsZ, | |||
| std::vector< double > & | screenPointsX, | |||
| std::vector< double > & | screenPointsY, | |||
| std::vector< std::vector< double > > * | screenGradientsX = NULL, |
|||
| std::vector< std::vector< double > > * | screenGradientsY = NULL, |
|||
| int | cameraIdx = 0, |
|||
| int | linkIdx = 0 | |||
| ) | const |
Project (extrinsic+intrinsic transformation) multiple points on screen.
| objPose | Object Pose with you want to use the warping of points. | |
| nPoints | Actual number of points to be processed (may be less than the dimension of input vectors). | |
| objPointsX | 3D ObjModel body points (x). | |
| objPointsY | 3D ObjModel body points (y). | |
| objPointsZ | 3D ObjModel body points (z). | |
| screenPointsX | 2D Screen points (x). | |
| screenPointsY | 2D Screen points (y). | |
| screenGradientsX | Optional, gradients of screen points (X coordinates), w.r.t. incremental degrees of freedom | |
| screenGradientsY | Optional, gradients of screen points (Y coordinates), w.r.t. incremental degrees of freedom | |
| cameraIdx | Optional, specifies the camera index. | |
| linkIdx | Optional, specifies the link index (for articulated models). |
| void opentl::modelprojection::Warp::warpUpdate | ( | opentl::core::State & | state, | |
| int | cameraIdx = -1 | |||
| ) | const |
Recalculate world and/or camera transformation matrices T from given target states and sensor models, possibly both (finite+compositional) pose update.
| state | Single state to be updated. | |
| cameraIdx | Camera index (default = -1, update all camera T matrices and Jacobians). |
| void opentl::modelprojection::Warp::warpUpdate | ( | std::vector< boost::shared_ptr< opentl::core::State > > & | states, | |
| int | cameraIdx = -1 | |||
| ) | const |
Update a vector of target states (internally, it calls warpUpdate() for each single state).
| states | Vector of states to be updated. | |
| cameraIdx | Camera index (default = -1, update all camera T matrices and Jacobians). |
std::vector<input::ImageSensor*>& opentl::modelprojection::Warp::mSensors [protected] |
Pointers to the Sensor Models.
1.5.8