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 ObjModelPtrVector &objModels, std::vector< math::Vector2 * > &screenPoints, std::vector< math::Vector4 * > &objPoints, std::vector< math::Vector4 * > &objNormals, std::vector< int > &outputTargetIndex, std::vector< int > &outputLinkIndex, int cameraIdx=0, int nPoints=-1)
	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 ObjModelPtrVector &	objModels,
		std::vector< math::Vector2 * > &	screenPoints,
		std::vector< math::Vector4 * > &	objPoints,
		std::vector< math::Vector4 * > &	objNormals,
		std::vector< int > &	outputTargetIndex,
		std::vector< int > &	outputLinkIndex,
		int	cameraIdx = 0,
		int	nPoints = -1
	)

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
	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
	outputTargetIndex	Input = expected target index for each point (-1 if "no expectations") Output = vector of found target indices, for each point (-1, if no target has been found there, or if the index differs from the expectation)
	outputLinkIndex	Output vector of linkId for each point (-1 if no object has been found for this pixel)
	cameraIdx	Input camera index
	nPoints	Actual number of processed points (-1 = all of them) 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.