TestHomographyImageAlignmentDense.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_TESTTACKING_TEST_HOMOGRAPHY_IMAGE_ALIGNMENT_DENSE_H
#define META_OCEAN_TEST_TESTTACKING_TEST_HOMOGRAPHY_IMAGE_ALIGNMENT_DENSE_H
 
#include "ocean/test/testtracking/TestTracking.h"
 
#include "ocean/base/Frame.h"
#include "ocean/base/RandomGenerator.h"
 
#include "ocean/math/SquareMatrix3.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestTracking
{
 
/**
 * This class implements a test for the dense homography image alignment.
 * @ingroup testtracking
 */
class OCEAN_TEST_TRACKING_EXPORT TestHomographyImageAlignmentDense
{
    public:
 
        /**
         * Invokes all tests.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool test(const double testDuration, Worker& worker);
 
        /**
         * Tests the additive alignment.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testAdditive(const double testDuration, Worker& worker);
 
        /**
         * Tests the additive alignment with specified number of image channels.
         * @param channels The number of image channels to be used, with range [1, infinity)
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testAdditive(const unsigned int channels, const double testDuration, Worker& worker);
 
        /**
         * Tests the inverse compositional alignment.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testInverseCompositional(const double testDuration, Worker& worker);
 
        /**
         * Tests the inverse compositional alignment with specified number of image channels.
         * @param channels The number of image channels to be used, with range [1, infinity)
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testInverseCompositional(const unsigned int channels, const double testDuration, Worker& worker);
 
        /**
         * Tests the multi-resolution alignment.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testMultiResolution(const double testDuration, Worker& worker);
 
        /**
         * Tests the multi-resolution alignment with specified number of image channels.
         * @param channels The number of image channels to be used, with range [1, infinity)
         * @param additive True, to use additive alignment; False, to use inverse compositional alignment
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testMultiResolution(const unsigned int channels, const bool additive, const double testDuration, Worker& worker);
 
    protected:
 
        /**
         * Creates a random template image, and random homography and a random tracking image.
         * @param frameType The frame type to be used for the template frame and the tracking frame, must be valid
         * @param randomGenerator The random generator to be used
         * @param templateFrame The resulting template image
         * @param trackingFrame The resulting tracking image
         * @param tracking_H_template The resulting homography between template frame and tracking frame
         * @param maximalHomographyRadius The maximal distance between the ideal image corners and the random homography corners, with range [0, infinity)
         * @return True, if succeeded
         */
        static bool createRandomData(const FrameType& frameType, RandomGenerator& randomGenerator, Frame& templateFrame, Frame& trackingFrame, SquareMatrix3& tracking_H_template, const Scalar maximalHomographyRadius);
 
        /**
         * Determines the average pixel intensity differences between the template image, the tracking image, and the adjusted tracking image.
         * @param templateFrame The template frame to be used
         * @param trackingFrame The tracking frame to be used
         * @param estimatedTracking_H_template The estimation transformation between the template frame and the tracking frame
         * @param averageError The resulting average pixel intensity between the template image and the tracking image (the initial error), with range [0, infinity)
         * @param averageErrorEstimated The resulting average pixel intensity between the warped template image and the tracking image (based on the estimated homography - the final error), with range [0, infinity)
         * @return True, if succeeded
         */
        static bool determineError(const Frame& templateFrame, const Frame& trackingFrame, const SquareMatrix3& estimatedTracking_H_template, double& averageError, double& averageErrorEstimated);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTTACKING_TEST_HOMOGRAPHY_IMAGE_ALIGNMENT_DENSE_H