QuadDetector.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_OCULUSTAGS_QUADDETECTOR_H
#define META_OCEAN_TRACKING_OCULUSTAGS_QUADDETECTOR_H
 
#include "ocean/tracking/oculustags/OculusTags.h"
 
#include "ocean/base/Frame.h"
 
#include "ocean/cv/detector/ShapeDetector.h"
 
#include "ocean/math/Vector2.h"
 
#include <array>
#include <vector>
 
namespace Ocean
{
 
namespace Tracking
{
 
namespace OculusTags
{
 
/**
 * This class implements a detector for quadrilaterals
 * @ingroup trackingoculustags
 */
class OCEAN_TRACKING_OCULUSTAGS_EXPORT QuadDetector
{
    public:
 
        /// Definition of a quadrilateral
        typedef std::array<Vector2, 4> Quad;
 
 
        /// A vector of quadrilaterals
        typedef std::vector<Quad> Quads;
 
    public:
 
        /**
         * Detects boundary patterns (possible candidates) and filters them
         * @param yFrame The image in which boundary patterns will be searched, must be valid
         * @param frameBorder Defines a perimeter inside the image along the image border in which nothing will be processed (in pixels), range: [0, min(yFrame.width(), yFrame.height())/2)
         * @return A vector of detected boundary patterns
         */
        static Quads detectQuads(const Frame& yFrame, const uint32_t frameBorder = 0u);
 
    protected:
 
        /**
         * Determines quads from a set of L-shapes
         * This function tries to find 4-tuples of L-shapes that form a quadrilateral (without self-intersection)
         * @param yFrame The image in which boundary patterns will be searched, must be valid
         * @param lShapes A list of L-shapes, must be valid
         * @param finiteLines The list of finite lines from the list of L-shapes was constructed, must be valid
         * @param angleThreshold The maximum deviation from a right angle when comparing adjacent and connected L-shapes, range: [0, deg2rad(90)) (in radian)
         * @param frameBorder Defines a perimeter inside the image along the image border in which nothing will be processed (in pixels), range: [0, min(yFrame.width(), yFrame.height())/2)
         * @return A vector of detected boundary patterns
         */
        static Quads extractQuads(const Frame& yFrame, const CV::Detector::ShapeDetector::LShapes& lShapes, const FiniteLines2& finiteLines, const Scalar angleThreshold, const uint32_t frameBorder);
 
        /**
         * Applies subpixel refinement to the points of a boundary pattern
         * @param yFrame The image in which the boundary pattern was detected, must be valid
         * @param quad The boundary pattern of which the points will be refined, must be valid
         * @return True if the refinement was successful, otherwise false
         */
        static bool refineQuad(const Frame& yFrame, Quad& quad);
};
 
}  // namespace OculusTags
 
}  // namespace Tracking
 
}  // namespace Ocean
 
#endif // META_OCEAN_TRACKING_OCULUSTAGS_QUADDETECTOR_H