BlobData Class Reference

Blob shapes, described by bounding boxes and an optional list of runs. More...

#include <BlobData.h>

Inheritance diagram for BlobData:

[legend]

Detailed Description

Blob shapes, described by bounding boxes and an optional list of runs.

Definition at line 32 of file BlobData.h.

List of all members.

Classes
class	AreaLessThan
struct	run
Public Types
enum	BlobOrientation_t { groundplane, pillar, poster }
	Assumed orientation of the blob in 3D space. More...
Public Member Functions
	BlobData (ShapeSpace &_space, const Point &_topLeft, const Point &_topRight, const Point &_bottomLeft, const Point &_bottomRight, const float _area=0, const std::vector< run > &_runvec=std::vector< run >(), const BlobOrientation_t _orientation=groundplane, const coordinate_t assumedHeight=0, const rgb rgbvalue=rgb(), bool _topValid=false, bool _bottomValid=false, bool _leftValid=false, bool _rightValid=false)
	Constructor.
	DATASTUFF_H (BlobData)
virtual Point	getCentroid () const
	return the centroid of the shape in point format
float	getArea () const
	Area of the blob.
virtual void	printParams () const
	Print information about this shape.
virtual void	applyTransform (const fmat::Transform &Tmat, const ReferenceFrameType_t newref=unspecified)
	Transformations. (Virtual in BaseData.).
virtual void	projectToGround (const fmat::Transform &camToBase, const PlaneEquation &gndplane)
	Project to ground.
virtual void	update_derived_properties ()
	Update derived properties.
BoundingBox2D	getBoundingBox () const
	returns the bounding box of the blob
virtual bool	isMatchFor (const ShapeRoot &other) const
	Match blobs based on their parameters. (Virtual in BaseData.).
virtual bool	updateParams (const ShapeRoot &other, bool forceUpdate=false)
	Update shape parameters after matching to another shape.
virtual unsigned short	getDimension () const
Corner extraction for rectangular blobs

std::vector< Point >	findCorners (unsigned int nExpected, std::vector< Point > &candidates, float &bestValue)
std::vector< Point >	findCornersDerivative ()
std::vector< Point >	findCornersDiagonal ()
std::vector< Point >	findCornersShapeFit (unsigned int ncorners, std::vector< Point > &candidates, float &bestValue)
Static Public Member Functions
static ShapeType_t	getStaticType ()
static std::vector< Shape < BlobData > >	extractBlobs (const Sketch< bool > &sketch, int minarea=25, BlobOrientation_t orient=BlobData::groundplane, coordinate_t height=0, int maxblobs=50)
	Import blobs from Sketch<bool> as a vector of Shape<BlobData>
static std::vector< Shape < BlobData > >	extractBlobs (const Sketch< uchar > &sketch, int minarea=25, BlobOrientation_t orient=BlobData::groundplane, const coordinate_t height=0, int maxblobs=50)
	Import blobs of all colors from Sketch<uchar> as a vector of Shape<BlobData>
static std::vector< Shape < BlobData > >	extractBlobs (const Sketch< uchar > &sketch, const std::set< color_index > &colors, const std::map< color_index, int > &minareas, const std::map< color_index, BlobOrientation_t > &orients, const std::map< color_index, coordinate_t > &heights, int maxblobs)
	Import blobs of specified colors from Sketch<uchar> as a vector of Shape<BlobData>
static BlobData *	new_blob (ShapeSpace &space, const CMVision::region &reg, const CMVision::run< CMVision::uchar > *rle_buff, const BlobOrientation_t orient, const coordinate_t height, const rgb rgbvalue)
	Utility function for making a new blob instance from CMVision's region data structures.
Public Attributes
bool	topValid
bool	bottomValid
bool	leftValid
bool	rightValid
BlobOrientation_t	orientation
	Orientation of the blob.
coordinate_t	assumedHeight
Point	topLeft
	Bounding quadrilateral: may not be square when projected to ground space.
Point	topRight
Point	bottomLeft
Point	bottomRight
float	area
	Area of the blob; may not be integer when projected to ground space.
const std::vector< run >	runvec
	Runs (for rendering in camera space).
Private Member Functions
virtual Sketch< bool > *	render () const
	Render into a sketch space and return reference. (Private.).
BlobData &	operator= (const BlobData &)
	don't call
Friends
class	Shape< BlobData >

Member Enumeration Documentation

enum BlobOrientation_t

Assumed orientation of the blob in 3D space.

Enumerator:

groundplane	2D shape lying flat on the ground
pillar	3D shape standing on the ground
poster	3D shape hanging vertically in space

Definition at line 36 of file BlobData.h.

Constructor & Destructor Documentation

BlobData	(	ShapeSpace &	_space,
		const Point &	_topLeft,
		const Point &	_topRight,
		const Point &	_bottomLeft,
		const Point &	_bottomRight,
		const float	_area = `0`,
		const std::vector< run > &	_runvec = `std::vector<run>()`,
		const BlobOrientation_t	_orientation = `groundplane`,
		const coordinate_t	assumedHeight = `0`,
		const rgb	rgbvalue = `rgb()`,
		bool	_topValid = `false`,
		bool	_bottomValid = `false`,
		bool	_leftValid = `false`,
		bool	_rightValid = `false`
	)

Constructor.

Definition at line 26 of file BlobData.cc.

Referenced by BlobData::new_blob().

Member Function Documentation

void applyTransform	(	const fmat::Transform &	Tmat,
		const ReferenceFrameType_t	newref = `unspecified`
	)			`[virtual]`

Transformations. (Virtual in BaseData.).

Implements BaseData.

Definition at line 176 of file BlobData.cc.

DATASTUFF_H ( BlobData )

std::vector< Shape< BlobData > > extractBlobs	(	const Sketch< uchar > &	sketch,
		const std::set< color_index > &	colors,
		const std::map< color_index, int > &	minareas,
		const std::map< color_index, BlobOrientation_t > &	orients,
		const std::map< color_index, coordinate_t > &	heights,
		int	maxblobs
	)			`[static]`

Import blobs of specified colors from Sketch<uchar> as a vector of Shape<BlobData>

Definition at line 336 of file BlobData.cc.

std::vector< Shape< BlobData > > extractBlobs	(	const Sketch< uchar > &	sketch,
		int	minarea = `25`,
		BlobOrientation_t	orient = `BlobData::groundplane`,
		const coordinate_t	height = `0`,
		int	maxblobs = `50`
	)			`[static]`

Import blobs of all colors from Sketch<uchar> as a vector of Shape<BlobData>

Definition at line 316 of file BlobData.cc.

std::vector< Shape< BlobData > > extractBlobs	(	const Sketch< bool > &	sketch,
		int	minarea = `25`,
		BlobOrientation_t	orient = `BlobData::groundplane`,
		coordinate_t	height = `0`,
		int	maxblobs = `50`
	)			`[static]`

Import blobs from Sketch<bool> as a vector of Shape<BlobData>

Definition at line 288 of file BlobData.cc.

Referenced by BlobData::extractBlobs(), CylinderData::extractCylinders(), and TargetData::extractLineTarget().

std::vector< Point > findCorners	(	unsigned int	nExpected,
		std::vector< Point > &	candidates,
		float &	bestValue
	)

Definition at line 458 of file BlobData.cc.

std::vector< Point > findCornersDerivative ( )

Definition at line 624 of file BlobData.cc.

std::vector< Point > findCornersDiagonal ( )

Definition at line 704 of file BlobData.cc.

std::vector< Point > findCornersShapeFit	(	unsigned int	ncorners,
		std::vector< Point > &	candidates,
		float &	bestValue
	)

Definition at line 821 of file BlobData.cc.

Referenced by BlobData::findCorners().

float getArea ( ) const

Area of the blob.

Definition at line 83 of file BlobData.h.

BoundingBox2D getBoundingBox ( ) const [virtual]

returns the bounding box of the blob

Reimplemented from BaseData.

Definition at line 51 of file BlobData.cc.

Point getCentroid ( ) const [virtual]

return the centroid of the shape in point format

Implements BaseData.

Definition at line 46 of file BlobData.cc.

Referenced by BlobData::findCornersDerivative(), BlobData::findCornersDiagonal(), BlobData::isMatchFor(), BlobData::projectToGround(), and BlobData::render().

virtual unsigned short getDimension ( ) const [virtual]

Implements BaseData.

Definition at line 108 of file BlobData.h.

static ShapeType_t getStaticType ( ) [static]

Definition at line 73 of file BlobData.h.

bool isMatchFor ( const ShapeRoot & other ) const [virtual]

Match blobs based on their parameters. (Virtual in BaseData.).

Implements BaseData.

Definition at line 251 of file BlobData.cc.

BlobData * new_blob	(	ShapeSpace &	space,
		const CMVision::region &	reg,
		const CMVision::run< CMVision::uchar > *	rle_buff,
		const BlobOrientation_t	orient,
		const coordinate_t	height,
		const rgb	rgbvalue
	)			`[static]`