TestFrameRectification.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_TEST_TESTCV_TESTADVANCED_TEST_FRAME_RECTIFICATION_H
#define META_OCEAN_TEST_TESTCV_TESTADVANCED_TEST_FRAME_RECTIFICATION_H
 
#include "ocean/test/testcv/testadvanced/TestCVAdvanced.h"
 
#include "ocean/base/Frame.h"
#include "ocean/base/Worker.h"
 
#include "ocean/math/AnyCamera.h"
#include "ocean/math/Box3.h"
#include "ocean/math/HomogenousMatrix4.h"
#include "ocean/math/Vector2.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestCV
{
 
namespace TestAdvanced
{
 
/**
 * This class implements a frame rectification test.
 * @ingroup testcvadvanced
 */
class OCEAN_TEST_CV_ADVANCED_EXPORT TestFrameRectification
{
    public:
 
        /**
         * Tests the frame rectification functions.
         * @param width The width of the test frame in pixel, with range [1u, infinity)
         * @param height The height of the test frame in pixel, with range [1, infinity)
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool test(const unsigned int width, const unsigned int height, const double testDuration, Worker& worker);
 
        /**
         * Tests the rectification function for a planar rectangle object.
         * @param width The width of the test frame in pixel, with range [1u, infinity)
         * @param height The height of the test frame in pixel, with range [1, infinity)
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool testPlanarRectangleObject(const unsigned int width, const unsigned int height, const double testDuration, Worker& worker);
 
        /**
         * Tests the rectification function for an arbitrary rectangle object.
         * @param width The width of the test frame in pixel, with range [1u, infinity)
         * @param height The height of the test frame in pixel, with range [1, infinity)
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool testArbitraryRectangleObject(const unsigned int width, const unsigned int height, const double testDuration, Worker& worker);
 
        /**
         * Tests the rectification function for triangles.
         * @param width The width of the test frame in pixel, with range [1u, infinity)
         * @param height The height of the test frame in pixel, with range [1, infinity)
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool testTriangleObject(const unsigned int width, const unsigned int height, const double testDuration, Worker& worker);
 
        /**
         * Tests the mask rectification function for a planar rectangle object.
         * @param width The width of the test frame in pixel, with range [1u, infinity)
         * @param height The height of the test frame in pixel, with range [1, infinity)
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool testPlanarRectangleObjectMask(const unsigned int width, const unsigned int height, const double testDuration, Worker& worker);
 
        /**
         * Tests the mask rectification function for an arbitrary rectangle object.
         * @param width The width of the test frame in pixel, with range [1u, infinity)
         * @param height The height of the test frame in pixel, with range [1, infinity)
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool testArbitraryRectangleObjectMask(const unsigned int width, const unsigned int height, const double testDuration, Worker& worker);
 
        /**
         * Tests the mask rectification function for triangles.
         * @param width The width of the test frame in pixel, with range [1u, infinity)
         * @param height The height of the test frame in pixel, with range [1, infinity)
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @param worker The worker object to distribute the computation
         * @return True, if succeeded
         */
        static bool testTriangleObjectMask(const unsigned int width, const unsigned int height, const double testDuration, Worker& worker);
 
    protected:
 
        /**
         * Determines the average color intensity error between two frames while excluding a two pixel thick border at the frame boundaries.
         * @param frame0 The first frame to be checked, must be valid
         * @param frame1 The second frame to be checked, must be valid
         * @param skipColor0 Optional pixel color to skip error calculation for pixels with this color in the first frame, nullptr otherwise
         * @param skipColor1 Optional pixel color to skip error calculation for pixels with this color in the second frame, nullptr otherwise
         * @return The average pixel-wise color difference between both frame
         */
        static double determineFrameError(const Frame& frame0, const Frame& frame1, const uint8_t* skipColor0, const uint8_t* skipColor1);
 
        /**
         * Renders a planar rectangular object with given camera profile and camera pose.
         * @param objectFrame The square object frame to be rendered, must be valid
         * @param targetFrame The resulting rendered frame, must be valid
         * @param camera The camera profile to be used for rendering
         * @param world_T_camera The transformation between camera and world, must be valid
         * @param objectDimension The dimension of the object frame to be rendered, with range (0, infinity)x(0, infinity)
         * @return True, if succeeded
         */
        static bool renderPlanarRectangleObject(const Frame& objectFrame, Frame& targetFrame, const AnyCamera& camera, const HomogenousMatrix4& world_T_camera, const Vector2& objectDimension);
 
        /**
         * Determines a camera pose so that all corners of a given bounding box are visible in the camera.
         * @param camera The camera profile defining the projection, must be valid
         * @param boundingBox The 3D bounding box, must be valid
         * @param world_R_camera The rotation of the camera to be used, must be valid
         * @return The transformation between camera and world (world_T_camera)
         */
        static HomogenousMatrix4 determineCameraPose(const AnyCamera& camera, const Box3& boundingBox, const Quaternion& world_R_camera);
};
 
}
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTCV_TESTADVANCED_TEST_FRAME_RECTIFICATION_H