Ocean
TestHomographyImageAlignmentDense.h
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1 /*
2  * Copyright (c) Meta Platforms, Inc. and affiliates.
3  *
4  * This source code is licensed under the MIT license found in the
5  * LICENSE file in the root directory of this source tree.
6  */
7 
8 #ifndef META_OCEAN_TEST_TESTTACKING_TEST_HOMOGRAPHY_IMAGE_ALIGNMENT_DENSE_H
9 #define META_OCEAN_TEST_TESTTACKING_TEST_HOMOGRAPHY_IMAGE_ALIGNMENT_DENSE_H
10 
12 
13 #include "ocean/base/Frame.h"
15 
17 
18 namespace Ocean
19 {
20 
21 namespace Test
22 {
23 
24 namespace TestTracking
25 {
26 
27 /**
28  * This class implements a test for the dense homography image alignment.
29  * @ingroup testtracking
30  */
31 class OCEAN_TEST_TRACKING_EXPORT TestHomographyImageAlignmentDense
32 {
33  public:
34 
35  /**
36  * Invokes all tests.
37  * @param testDuration Number of seconds for each test, with range (0, infinity)
38  * @param worker The worker object
39  * @return True, if succeeded
40  */
41  static bool test(const double testDuration, Worker& worker);
42 
43  /**
44  * Tests the additive alignment.
45  * @param testDuration Number of seconds for each test, with range (0, infinity)
46  * @param worker The worker object
47  * @return True, if succeeded
48  */
49  static bool testAdditive(const double testDuration, Worker& worker);
50 
51  /**
52  * Tests the additive alignment with specified number of image channels.
53  * @param channels The number of image channels to be used, with range [1, infinity)
54  * @param testDuration Number of seconds for each test, with range (0, infinity)
55  * @param worker The worker object
56  * @return True, if succeeded
57  */
58  static bool testAdditive(const unsigned int channels, const double testDuration, Worker& worker);
59 
60  /**
61  * Tests the inverse compositional alignment.
62  * @param testDuration Number of seconds for each test, with range (0, infinity)
63  * @param worker The worker object
64  * @return True, if succeeded
65  */
66  static bool testInverseCompositional(const double testDuration, Worker& worker);
67 
68  /**
69  * Tests the inverse compositional alignment with specified number of image channels.
70  * @param channels The number of image channels to be used, with range [1, infinity)
71  * @param testDuration Number of seconds for each test, with range (0, infinity)
72  * @param worker The worker object
73  * @return True, if succeeded
74  */
75  static bool testInverseCompositional(const unsigned int channels, const double testDuration, Worker& worker);
76 
77  /**
78  * Tests the multi-resolution alignment.
79  * @param testDuration Number of seconds for each test, with range (0, infinity)
80  * @param worker The worker object
81  * @return True, if succeeded
82  */
83  static bool testMultiResolution(const double testDuration, Worker& worker);
84 
85  /**
86  * Tests the multi-resolution alignment with specified number of image channels.
87  * @param channels The number of image channels to be used, with range [1, infinity)
88  * @param additive True, to use additive alignment; False, to use inverse compositional alignment
89  * @param testDuration Number of seconds for each test, with range (0, infinity)
90  * @param worker The worker object
91  * @return True, if succeeded
92  */
93  static bool testMultiResolution(const unsigned int channels, const bool additive, const double testDuration, Worker& worker);
94 
95  protected:
96 
97  /**
98  * Creates a random template image, and random homography and a random tracking image.
99  * @param frameType The frame type to be used for the template frame and the tracking frame, must be valid
100  * @param randomGenerator The random generator to be used
101  * @param templateFrame The resulting template image
102  * @param trackingFrame The resulting tracking image
103  * @param tracking_H_template The resulting homography between template frame and tracking frame
104  * @param maximalHomographyRadius The maximal distance between the ideal image corners and the random homography corners, with range [0, infinity)
105  * @return True, if succeeded
106  */
107  static bool createRandomData(const FrameType& frameType, RandomGenerator& randomGenerator, Frame& templateFrame, Frame& trackingFrame, SquareMatrix3& tracking_H_template, const Scalar maximalHomographyRadius);
108 
109  /**
110  * Determines the average pixel intensity differences between the template image, the tracking image, and the adjusted tracking image.
111  * @param templateFrame The template frame to be used
112  * @param trackingFrame The tracking frame to be used
113  * @param estimatedTracking_H_template The estimation transformation between the template frame and the tracking frame
114  * @param averageError The resulting average pixel intensity between the template image and the tracking image (the initial error), with range [0, infinity)
115  * @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)
116  * @return True, if succeeded
117  */
118  static bool determineError(const Frame& templateFrame, const Frame& trackingFrame, const SquareMatrix3& estimatedTracking_H_template, double& averageError, double& averageErrorEstimated);
119 };
120 
121 }
122 
123 }
124 
125 }
126 
127 #endif // META_OCEAN_TEST_TESTTACKING_TEST_HOMOGRAPHY_IMAGE_ALIGNMENT_DENSE_H
This class implements Ocean's image class.
Definition: Frame.h:1792
Definition of a frame type composed by the frame dimension, pixel format and pixel origin.
Definition: Frame.h:30
This class implements a generator for random numbers.
Definition: RandomGenerator.h:42
This class implements a test for the dense homography image alignment.
Definition: TestHomographyImageAlignmentDense.h:32
static bool testInverseCompositional(const unsigned int channels, const double testDuration, Worker &worker)
Tests the inverse compositional alignment with specified number of image channels.
static bool createRandomData(const FrameType &frameType, RandomGenerator &randomGenerator, Frame &templateFrame, Frame &trackingFrame, SquareMatrix3 &tracking_H_template, const Scalar maximalHomographyRadius)
Creates a random template image, and random homography and a random tracking image.
static bool testMultiResolution(const unsigned int channels, const bool additive, const double testDuration, Worker &worker)
Tests the multi-resolution alignment with specified number of image channels.
static bool testAdditive(const unsigned int channels, const double testDuration, Worker &worker)
Tests the additive alignment with specified number of image channels.
static bool testMultiResolution(const double testDuration, Worker &worker)
Tests the multi-resolution alignment.
static bool testInverseCompositional(const double testDuration, Worker &worker)
Tests the inverse compositional alignment.
static bool determineError(const Frame &templateFrame, const Frame &trackingFrame, const SquareMatrix3 &estimatedTracking_H_template, double &averageError, double &averageErrorEstimated)
Determines the average pixel intensity differences between the template image, the tracking image,...
static bool testAdditive(const double testDuration, Worker &worker)
Tests the additive alignment.
static bool test(const double testDuration, Worker &worker)
Invokes all tests.
This class implements a worker able to distribute function calls over different threads.
Definition: Worker.h:33
float Scalar
Definition of a scalar type.
Definition: Math.h:128
The namespace covering the entire Ocean framework.
Definition: Accessor.h:15