BlobData Class Reference

#include <BlobData.h>

Inheritance diagram for BlobData:

Detailed Description

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

Definition at line 25 of file BlobData.h.

Public Types

groundplane

2D shape lying flat on the ground

pillar

3D shape standing on the ground

pinata

3D shape hanging vertically in space

enum BlobOrientation_t { groundplane, pillar, pinata }

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, const std::vector< run > &_runvec, const BlobOrientation_t _orientation, const rgb rgbvalue)

Constructor.

DATASTUFF_H (BlobData)

virtual Point getCentroid () const

return the centroid of the shape in point format

float getArea ()

Area of the blob.

virtual void printParams () const

Print information about this shape.

virtual void applyTransform (const NEWMAT::Matrix &Tmat)

Transformations. (Virtual in BaseData.).

virtual void projectToGround (const NEWMAT::Matrix &camToBase, const NEWMAT::ColumnVector &groundplane)

Project to ground.

virtual void update_derived_properties ()

Update derived properties.

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

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, const set< int > &colors, int minarea=0, BlobData::BlobOrientation_t orient=BlobData::groundplane, int maxblobs=50)

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

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

static std::vector< Shape<
BlobData > > extractBlobs (const Sketch< CMVision::uchar > &sketch, const set< int > &colors, int minarea=0, BlobData::BlobOrientation_t orient=BlobData::groundplane, int maxblobs=50)

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

static std::vector< Shape<
BlobData > > extractBlobs (const Sketch< CMVision::uchar > &sketch, int minarea=0, BlobData::BlobOrientation_t orient=BlobData::groundplane, int maxblobs=50)

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

Public Attributes

Point topLeft

Point topRight

Point bottomLeft

Point bottomRight

float area

const std::vector< run > runvec

enum DualCoding::BlobData::BlobOrientation_t orientation

Assumed orientation of the blob in 3D 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 >

Classes

class areaLessThan

struct run

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
pinata	3D shape hanging vertically in space

Definition at line 44 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,
		const std::vector< run > &	_runvec,
		const BlobOrientation_t	_orientation,
		const rgb	rgbvalue
	)

Constructor.

Definition at line 24 of file BlobData.cc.

Member Function Documentation

void applyTransform ( const NEWMAT::Matrix & Tmat ) [virtual]

Transformations. (Virtual in BaseData.).

Implements BaseData.

Definition at line 88 of file BlobData.cc.

DATASTUFF_H ( BlobData )

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

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

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

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

Definition at line 220 of file BlobData.cc.

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

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

Definition at line 202 of file BlobData.cc.

Referenced by BlobData::extractBlobs(), MapBuilder::getCamBlobs(), and MapBuilder::getCameraShapes().

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

Definition at line 341 of file BlobData.cc.

std::vector< Point > findCornersDerivative ( )

Definition at line 507 of file BlobData.cc.

std::vector< Point > findCornersDiagonal ( )

Definition at line 587 of file BlobData.cc.

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

Definition at line 704 of file BlobData.cc.

Referenced by BlobData::findCorners().

float getArea ( ) [inline]

Area of the blob.

Definition at line 70 of file BlobData.h.

Point getCentroid ( ) const [virtual]

return the centroid of the shape in point format

Implements BaseData.

Definition at line 40 of file BlobData.cc.

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

virtual unsigned short getDimension ( ) const [inline, virtual]

Implements BaseData.

Definition at line 91 of file BlobData.h.

static ShapeType_t getStaticType ( ) [inline, static]

Definition at line 60 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 172 of file BlobData.cc.

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