opentl::modelprojection::WarpBack Class Reference

Inherits opentl::modelprojection::Warp.

List of all members.

Public Member Functions
void	backWarpPoints (const std::vector< boost::shared_ptr< opentl::core::State > > &states, const std::vector< opentl::models::ObjModel * > &objModels, const std::vector< int > &targetIdx, std::vector< math::Vector2 * > &screenPoints, std::vector< math::Vector4 * > &objPoints, std::vector< math::Vector4 * > &objNormals, std::vector< int > &pointTargetIdx, std::vector< int > &linkIdx, int cameraIdx=0)
	BACK-PROJECTION = get back 3D object coordinates, based on window coordinates and depth values.
opentl::cvprocess::GlFbo *	getFbo ()
	Return FBO handle.
opentl::modelprojection::GLScene &	getGLScene () const
void	initBackProjBuffers (int cameraIdx)
	Initialize frame buffer objects, textures, and shaders for back projection.
	WarpBack (std::vector< input::ImageSensor * > &sensors, opentl::modelprojection::GLScene &scene)
	Constructor, link the WarpBack to the respective object/sensor pair.
virtual	~WarpBack ()
	Destructor.

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Constructor & Destructor Documentation

opentl::modelprojection::WarpBack::WarpBack	(	std::vector< input::ImageSensor * > &	sensors,
		opentl::modelprojection::GLScene &	scene
	)

Constructor, link the WarpBack to the respective object/sensor pair.

Parameters:

	sensors	Vector of ImageSensor pointers.
	scene	Pointer to GLScene instance.

virtual opentl::modelprojection::WarpBack::~WarpBack

(

)

[virtual]

Destructor.

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Member Function Documentation

void opentl::modelprojection::WarpBack::backWarpPoints	(	const std::vector< boost::shared_ptr< opentl::core::State > > &	states,
		const std::vector< opentl::models::ObjModel * > &	objModels,
		const std::vector< int > &	targetIdx,
		std::vector< math::Vector2 * > &	screenPoints,
		std::vector< math::Vector4 * > &	objPoints,
		std::vector< math::Vector4 * > &	objNormals,
		std::vector< int > &	pointTargetIdx,
		std::vector< int > &	linkIdx,
		int	cameraIdx = 0
	)

BACK-PROJECTION = get back 3D object coordinates, based on window coordinates and depth values.

Parameters:

	states	Input states
	objModels	Input object models for each state
	targetIdx	Input target Ids for each state
	screenPoints	Input vector of 2D screen coordinates
	objPoints	Output vector of 3D object coordinates
	objNormals	Output vector of 3D object coordinates for the object normals
	pointTargetIdx	Input = expected target Id for each point (-1 if "no expectations") Output = vector of found target Ids, for each point (-1, if no target has been found there, or if the Id differs from the expectation)
	linkIdx	Output vector of linkId for each point (-1 if no object has been found for this pixel)
	cameraIdx	Input camera index Pre-allocated: GLubyte *buffer = full color buffer (unsigned char), obtained from glReadPixels Pre-allocated: GLfloat *depthbuf = full depth buffer (float), obtained from glReadPixels Pre-allocated: std::vector<double *> modelViewMatrices = modelview matrices (for each link)

opentl::cvprocess::GlFbo* opentl::modelprojection::WarpBack::getFbo

(

)

[inline]

Return FBO handle.

opentl::modelprojection::GLScene& opentl::modelprojection::WarpBack::getGLScene

(

)

const [inline]

void opentl::modelprojection::WarpBack::initBackProjBuffers

(

int

cameraIdx

)

Initialize frame buffer objects, textures, and shaders for back projection.