93 lines
3.5 KiB
C
93 lines
3.5 KiB
C
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// Copyright 2020 The MediaPipe Authors.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_MODEL_H_
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#define MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_MODEL_H_
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#include "mediapipe/modules/objectron/calculators/annotation_data.pb.h"
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#include "mediapipe/modules/objectron/calculators/object.pb.h"
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#include "mediapipe/modules/objectron/calculators/types.h"
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namespace mediapipe {
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class Model {
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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enum Type {
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kVisualizationOnly = 0,
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kBoundingBox,
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kSkeleton,
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kShape, // Shape is a virtual object.
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kNumModes,
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};
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virtual ~Model() = default;
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virtual void SetTransformation(const Eigen::Matrix4f& transform);
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virtual void SetTranslation(const Eigen::Vector3f& translation);
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// Compute the rotation matrix from these angles and update the transformation
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// matrix accordingly
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virtual void SetRotation(float roll, float pitch, float yaw);
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virtual void SetRotation(const Eigen::Matrix3f& rotation);
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virtual void SetScale(const Eigen::Vector3f& scale);
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virtual void SetCategory(const std::string& category);
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virtual size_t GetNumberKeypoints() const { return number_keypoints_; }
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// Gets Euler angles in the order of roll, pitch, yaw.
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virtual const Eigen::Vector3f GetRotationAngles() const;
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virtual const Eigen::Matrix4f& GetTransformation() const;
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virtual const Eigen::Vector3f& GetScale() const;
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virtual const Eigen::Ref<const Eigen::Vector3f> GetTranslation() const;
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virtual const Eigen::Ref<const Eigen::Matrix3f> GetRotation() const;
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virtual const std::string& GetCategory() const;
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// Update the model's keypoints in the world-coordinate system.
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// The update includes transforming the model to the world-coordinate system
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// as well as scaling the model.
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// The user is expected to call this function after Setting the rotation,
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// orientation or the scale of the model to get an updated model.
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virtual void Update() = 0;
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// Update the model's parameters (orientation, position, and scale) from the
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// user-provided variables.
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virtual void Adjust(const std::vector<float>& variables) = 0;
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// Returns a pointer to the model's keypoints.
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// Use Eigen::Map to cast the pointer back to Vector3 or Vector4
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virtual const float* GetVertex(size_t id) const = 0;
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virtual float* GetVertex(size_t id) = 0;
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virtual void Deserialize(const Object& obj);
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virtual void Serialize(Object* obj);
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// TODO: make member variables protected, and add public apis.
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// 4x4 transformation matrix mapping the first keypoint to world coordinate
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Eigen::Matrix4f transformation_;
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Eigen::Vector3f scale_; // width, height, depth
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Type model_type_;
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size_t number_keypoints_;
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std::string category_;
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protected:
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Model(Type type, size_t number_keypoints, const std::string& category)
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: model_type_(type),
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number_keypoints_(number_keypoints),
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category_(category) {}
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};
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} // namespace mediapipe
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#endif // MEDIAPIPE_MODULES_OBJECTRON_CALCULATORS_MODEL_H_
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