TrackerStereo.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_MAPBUILDING_TRACKER_STEREO_H
#define META_OCEAN_TRACKING_MAPBUILDING_TRACKER_STEREO_H
 
#include "ocean/tracking/mapbuilding/MapBuilding.h"
#include "ocean/tracking/mapbuilding/RelocalizerStereo.h"
 
#include "ocean/cv/FramePyramid.h"
 
namespace Ocean
{
 
namespace Tracking
{
 
namespace MapBuilding
{
 
/**
 * This class implements a tracker for mono cameras.
 * @ingroup trackingmapbuilding
 */
class OCEAN_TRACKING_MAPBUILDING_EXPORT TrackerStereo final : public RelocalizerStereo
{
    protected:
 
        /**
         * Definition of an unordered map mapping object point ids to object point indices.
         */
        typedef std::unordered_map<Index32, Index32> ObjectPointIdMap;
 
    public:
 
        /**
         * Creates a new tracker object.
         */
        TrackerStereo() = default;
 
        /**
         * Creates a new tracker object.
         * @param imageFeaturePointDetectorFunction The feature detection and description function to be used
         */
        explicit TrackerStereo(ImageFeaturePointDetectorFunction imageFeaturePointDetectorFunction);
 
        /**
         * Sets or updates the feature map to be used for relocalization.
         * @see Relocalizer::setFeatureMap().
         */
        bool setFeatureMap(SharedUnifiedFeatureMap featureMap) override;
 
        /**
         * Tracks the current frame a given frame.
         * @param anyCameraA The camera profile defining the projection of the first camera, must be valid
         * @param anyCameraB The camera profile defining the projection of the second camera, must be valid
         * @param device_T_cameraA The transformation between the first camera and the device, with default camera pose pointing towards the negative z-space and y-axis upwards, must be valid
         * @param device_T_cameraB The transformation between the second camera and the device, with default camera pose pointing towards the negative z-space and y-axis upwards, must be valid
         * @param yFrameA The first frame with pixel format FORMAT_Y8, must be valid
         * @param yFrameB The second frame with pixel format FORMAT_Y8, must be valid
         * @param world_T_device The resulting device pose transforming device to world
         * @param minimalNumberCorrespondences The minimal number of 2D/3D correspondences so that a camera pose counts as valid, with range [4, infinity)
         * @param maximalProjectionError The maximal projection error between 3D object points and their 2D observations, in pixels, with range [0, infinity)
         * @param world_T_roughDevice Optional rough device pose to speedup the relocalization, if known, invalid otherwise
         * @param worker Optional worker to distribute the computation
         * @return True, if succeeded
         */
        bool track(const AnyCamera& anyCameraA, const AnyCamera& anyCameraB, const HomogenousMatrix4& device_T_cameraA, const HomogenousMatrix4& device_T_cameraB, const Frame& yFrameA, const Frame& yFrameB, HomogenousMatrix4& world_T_device, const unsigned int minimalNumberCorrespondences, const Scalar maximalProjectionError, const HomogenousMatrix4& world_T_roughDevice = HomogenousMatrix4(false), Worker* worker = nullptr);
 
    protected:
 
        /**
         * Creates the feature correspondences debugging element.
         * @param anyCameraA The camera profile defining the projection of the first camera, must be valid
         * @param anyCameraB The camera profile defining the projection of the second camera, must be valid
         * @param world_T_device The transformation between device and world, must be valid
         * @param device_T_cameraA The transformation between the first camera and the device, with default camera pose pointing towards the negative z-space and y-axis upwards, must be valid
         * @param device_T_cameraB The transformation between the second camera and the device, with default camera pose pointing towards the negative z-space and y-axis upwards, must be valid
         */
        void createDebuggingElementFeatureCorrespondences(const AnyCamera& anyCameraA, const AnyCamera& anyCameraB, const HomogenousMatrix4& world_T_device, const HomogenousMatrix4& device_T_cameraA, const HomogenousMatrix4& device_T_cameraB);
 
    protected:
 
        /// The frame pyramid holding the previous first camera image.
        CV::FramePyramid yPreviousFramePyramidA_;
 
        /// The frame pyramid holding the previous second camera image.
        CV::FramePyramid yPreviousFramePyramidB_;
 
        /// The frame pyramid holding the current first camera image.
        CV::FramePyramid yCurrentFramePyramidA_;
 
        /// The frame pyramid holding the current second camera image.
        CV::FramePyramid yCurrentFramePyramidB_;
 
        /// The previous image points in the first camera.
        Vectors2 previousImagePointsA_;
 
        /// The previous image points in the second camera.
        Vectors2 previousImagePointsB_;
 
        /// The previous object points observed in the first camera.
        Vectors3 previousObjectPointsA_;
 
        /// The previous object points observed in the second camera.
        Vectors3 previousObjectPointsB_;
 
        /// The map mapping object point ids to object point indices.
        ObjectPointIdMap objectPointIdMap_;
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TRACKING_MAPBUILDING_TRACKER_STEREO_H