PoseQualityCalculator.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_TRACKING_SLAM_POSE_QUALITY_CALCULATOR_H
#define META_OCEAN_TRACKING_SLAM_POSE_QUALITY_CALCULATOR_H
 
#include "ocean/tracking/slam/SLAM.h"
#include "ocean/tracking/slam/CameraPose.h"
#include "ocean/tracking/slam/LocalizedObjectPoint.h"
 
namespace Ocean
{
 
namespace Tracking
{
 
namespace SLAM
{
 
/**
 * Helper class allowing to determine the quality of the camera pose based on the number of object points used to determine the camera pose.
 */
class OCEAN_TRACKING_SLAM_EXPORT PoseQualityCalculator
{
    public:
 
        /**
         * Creates a new quality calculator object.
         */
        PoseQualityCalculator() = default;
 
        /**
         * Adds an object point with the specified localization precision.
         * @param localizationPrecision The localization precision of the object point, must not be LP_INVALID
         */
        void addObjectPoint(const LocalizedObjectPoint::LocalizationPrecision localizationPrecision);
 
        /**
         * Returns the number of object points which have been used to determine the camera pose.
         * @return The pose's object points, with range [0, infinity)
         */
        inline size_t size() const;
 
        /**
         * Returns the quality of the camera pose based on the number and precision of object points.
         * @return The pose quality
         */
        CameraPose::PoseQuality poseQuality() const;
 
        /**
         * Returns a string representation of the pose quality and object point statistics.
         * @return The string representation
         */
        std::string toString() const;
 
    public:
 
        /// The number of high precision object points used to determine the camera pose, with range [0, infinity).
        size_t numberHighPrecision_ = 0;
 
        /// The number of medium precision object points used to determine the camera pose, with range [0, infinity).
        size_t numberMediumPrecision_ = 0;
 
        /// The number of low precision object points used to determine the camera pose, with range [0, infinity).
        size_t numberLowPrecision_ = 0;
 
        /// The number of object points with unknown precision used to determine the camera pose, with range [0, infinity).
        size_t numberUnknownPrecision_ = 0;
};
 
inline size_t PoseQualityCalculator::size() const
{
    return numberHighPrecision_ + numberMediumPrecision_ + numberLowPrecision_ + numberUnknownPrecision_;
}
 
}
 
}
 
}
 
#endif // META_OCEAN_TRACKING_SLAM_POSE_QUALITY_CALCULATOR_H