This class implements to functions to determine the error or accuracy of geometric functions and their parameter. More...

Data Structures
class	ErrorElement
	This class implements an element storing the error between to image points. More...

Public Types
enum	ErrorDetermination { ED_INVALID , ED_UNIQUE , ED_APPROXIMATED , ED_AMBIGUOUS }
	Definition of different error determination stages. More...

Static Public Member Functions
static void	determineValidParameters (const Scalar *parameters, const size_t number, const Scalar threshold, Indices32 &validIndices)
	Determines the indices of a set of given parameter values that are below ore equal to a provided threshold. More...

static void	determineInvalidParameters (const Scalar *parameters, const size_t number, const Scalar threshold, Indices32 &validIndices)
	Determines the indices of a set of given parameter values that are above a provided threshold. More...

static Scalar	determineAverageError (const Vectors2 &firstPoints, const Vectors2 &secondPoints, Vector2 errors=nullptr, Scalar sqrErrors=nullptr)
	Returns the average square error between two sets of 2D positions. More...

static Scalar	determineAverageError (const SquareMatrix3 &firstTransformation, const Vectors2 &firstPoints, const SquareMatrix3 &secondTransformation, const Vectors2 &secondPoints)
	Returns the average square error between two sets of 2D positions. More...

static Scalar	determineAverageError (const Vectors3 &firstPoints, const Vectors3 &secondPoints)
	Returns the average square error between two sets of 3D positions. More...

static Scalar	determineError (const Vectors2 &firstPoints, const Vectors2 &secondPoints, Scalar &sqrAverageError, Scalar &sqrMinimalError, Scalar &sqrMaximalError)
	Determining the average, minimal and maximal square error between two sets of 2D positions. More...

static Scalar	determineError (const Vectors3 &firstPoints, const Vectors3 &secondPoints, Scalar &sqrAverageError, Scalar &sqrMinimalError, Scalar &sqrMaximalError)
	Returns the average, minimal and maximal square error between two sets of 3D positions. More...

static bool	posesAlmostEqual (const HomogenousMatrix4 &poseFirst, const HomogenousMatrix4 &poseSecond, const Vector3 &maxTranslationOffset=Vector3(Scalar(0.1), Scalar(0.1), Scalar(0.1)), const Scalar maxOrientationOffset=Numeric::deg2rad(15))
	Returns whether the offsets between two given 6DOF poses are below specified thresholds. More...

static bool	posesAlmostEqual (const HomogenousMatrix4 &poseFirst, const HomogenousMatrix4 &poseSecond, const Vector3 &maxTranslationOffset)
	Returns whether the offsets between two given 6DOF poses are below specified thresholds. More...

static bool	posesAlmostEqual (const HomogenousMatrix4 &poseFirst, const HomogenousMatrix4 &poseSecond, const Scalar maxOrientationOffset)
	Returns whether the offsets between two given 6DOF poses are below specified thresholds. More...

static Scalar	determineCameraError (const PinholeCamera &pinholeCamera, const Vector2 normalizedObjectPoints, const Vector2 imagePoints, const size_t correspondences, const bool useDistortionParameters, Vector2 errors=nullptr, Scalar sqrErrors=nullptr)
	Determines the accuracy of the intrinsic camera matrix (and camera distortion parameters if requested). More...

static void	determineCameraError (const PinholeCamera &pinholeCamera, const Vector2 normalizedObjectPoints, const Vector2 imagePoints, const size_t correspondences, const bool useDistortionParameters, Scalar &sqrAveragePixelError, Scalar &sqrMinimalPixelError, Scalar &sqrMaximalPixelError)
	Determines the accuracy of the intrinsic camera matrix (and camera distortion parameters if requested). More...

template<typename TAccessorImagePoints , bool tResultingErrors, bool tResultingSqrErrors>
static Scalar	determineHomographyError (const SquareMatrix3 &points1_H_points0, const TAccessorImagePoints &imagePointAccessor0, const TAccessorImagePoints &imagePointAccessor1, Vector2 errors=nullptr, Scalar sqrErrors=nullptr)
	Determines the accuracy of a given homography for a set of corresponding image points. More...

static Vector2	determinePoseError (const HomogenousMatrix4 &world_T_camera, const AnyCamera &camera, const Vector3 &objectPoint, const Vector2 &imagePoint)
	Determines the accuracy of the camera pose based on 2D/3D correspondences. More...

static Vector2	determinePoseErrorIF (const HomogenousMatrix4 &flippedCamera_T_world, const AnyCamera &camera, const Vector3 &objectPoint, const Vector2 &imagePoint)
	Determines the accuracy of the camera pose based on 2D/3D correspondences. More...

static Vector2	determinePoseError (const HomogenousMatrix4 &world_T_camera, const PinholeCamera &pinholeCamera, const Vector3 &objectPoint, const Vector2 &imagePoint, const bool useDistortionParameters)
	Deprecated. More...

static Vector2	determinePoseErrorIF (const HomogenousMatrix4 &flippedCamera_T_world, const PinholeCamera &pinholeCamera, const Vector3 &objectPoint, const Vector2 &imagePoint, const bool useDistortionParameters)
	Deprecated. More...

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tUseBorderDistortionIfOutside, bool tResultingErrors, bool tResultingSqrErrors>
static Scalar	determinePoseError (const HomogenousMatrix4 &world_T_camera, const PinholeCamera &pinholeCamera, const TAccessorObjectPoints &objectPointAccessor, const TAccessorImagePoints &imagePointAccessor, const bool useDistortionParameters, const Scalar zoom=Scalar(1), Vector2 errors=nullptr, Scalar sqrErrors=nullptr)
	Determines the accuracy of the camera pose based on 2D/3D correspondences. More...

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tResultingErrors, bool tResultingSqrErrors>
static Scalar	determinePoseError (const HomogenousMatrix4 &world_T_camera, const AnyCamera &anyCamera, const TAccessorObjectPoints &objectPointAccessor, const TAccessorImagePoints &imagePointAccessor, Vector2 errors=nullptr, Scalar sqrErrors=nullptr)
	Determines the accuracy of the camera pose based on 2D/3D correspondences. More...

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tUseBorderDistortionIfOutside, bool tResultingErrors, bool tResultingSqrErrors>
static Scalar	determinePoseErrorIF (const HomogenousMatrix4 &flippedCamera_T_world, const PinholeCamera &pinholeCamera, const TAccessorObjectPoints &objectPointAccessor, const TAccessorImagePoints &imagePointAccessor, const bool useDistortionParameters, const Scalar zoom=Scalar(1), Vector2 errors=nullptr, Scalar sqrErrors=nullptr)
	Determines the accuracy of the camera pose based on 2D/3D correspondences. More...

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tResultingErrors, bool tResultingSqrErrors>
static Scalar	determinePoseErrorIF (const HomogenousMatrix4 &flippedCamera_T_world, const AnyCamera &anyCamera, const TAccessorObjectPoints &objectPointAccessor, const TAccessorImagePoints &imagePointAccessor, Vector2 errors=nullptr, Scalar sqrErrors=nullptr)
	Determines the accuracy of the camera pose based on 2D/3D correspondences. More...

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tOnlyFrontObjectPoints>
static bool	determinePoseError (const HomogenousMatrix4 &world_T_camera, const AnyCamera &camera, const TAccessorObjectPoints &objectPointAccessor, const TAccessorImagePoints &imagePointAccessor, Scalar &sqrAveragePixelError, Scalar &sqrMinimalPixelError, Scalar &sqrMaximalPixelError)
	Determines the accuracy of a camera pose in combination with the corresponding camera profile. More...

template<typename TAccessorObjectPoints , typename TAccessorImagePoints >
static void	determinePoseError (const HomogenousMatrix4 &world_T_camera, const AnyCamera &camera, const TAccessorObjectPoints &objectPointAccessor, const TAccessorImagePoints &imagePointAccessor, Scalar &sqrAveragePixelError, Scalar &sqrMinimalPixelError, Scalar &sqrMaximalPixelError)
	Deprecated. More...

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tUseBorderDistortionIfOutside>
static void	determinePoseError (const HomogenousMatrix4 &world_T_camera, const PinholeCamera &pinholeCamera, const TAccessorObjectPoints &objectPointAccessor, const TAccessorImagePoints &imagePointAccessor, const bool useDistortionParameters, Scalar &sqrAveragePixelError, Scalar &sqrMinimalPixelError, Scalar &sqrMaximalPixelError, const Scalar zoom=Scalar(1))
	Determines the accuracy of the extrinsic and intrinsic camera matrix (and camera distortion if requested). More...

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tOnlyFrontObjectPoints>
static bool	determinePoseErrorIF (const HomogenousMatrix4 &flippedCamera_T_world, const AnyCamera &camera, const TAccessorObjectPoints &objectPointAccessor, const TAccessorImagePoints &imagePointAccessor, Scalar &sqrAveragePixelError, Scalar &sqrMinimalPixelError, Scalar &sqrMaximalPixelError)
	Determines the accuracy of a camera pose in combination with the corresponding camera profile. More...

template<typename TAccessorObjectPoints , typename TAccessorImagePoints >
static void	determinePoseErrorIF (const HomogenousMatrix4 &flippedCamera_T_world, const AnyCamera &camera, const TAccessorObjectPoints &objectPointAccessor, const TAccessorImagePoints &imagePointAccessor, Scalar &sqrAveragePixelError, Scalar &sqrMinimalPixelError, Scalar &sqrMaximalPixelError)
	Deprecated. More...

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tUseBorderDistortionIfOutside>
static void	determinePoseErrorIF (const HomogenousMatrix4 &flippedCamera_T_world, const PinholeCamera &pinholeCamera, const TAccessorObjectPoints &objectPointAccessor, const TAccessorImagePoints &imagePointAccessor, const bool useDistortionParameters, Scalar &sqrAveragePixelError, Scalar &sqrMinimalPixelError, Scalar &sqrMaximalPixelError, const Scalar zoom=Scalar(1))
	Determines the accuracy of the extrinsic and intrinsic camera matrix (and camera distortion if requested). More...

template<Estimator::EstimatorType tEstimator>
static Scalar	averagedRobustErrorInPointCloud (const Vector2 imagePoints, const size_t numberImagePoints, const size_t validImagePoints, const Vector2 candidatePoints, const size_t numberCandidatePoints, const ErrorDetermination errorDetermination, IndexPairs32 *correspondences=nullptr)
	Determines the unique robust minimal average square error between two 2D points clouds. More...

template<Estimator::EstimatorType tEstimator>
static Scalar	uniqueAveragedRobustErrorInPointCloud (const Vector2 imagePoints, const size_t numberImagePoints, const size_t validImagePoints, const Vector2 candidatePoints, const size_t numberCandidatePoints, IndexPairs32 *correspondences=nullptr)
	Determines the unique robust minimal average square error between two 2D points clouds. More...

template<Estimator::EstimatorType tEstimator>
static Scalar	approximatedAveragedRobustErrorInPointCloud (const Vector2 imagePoints, const size_t numberImagePoints, const size_t validImagePoints, const Vector2 candidatePoints, const size_t numberCandidatePoints, IndexPairs32 *correspondences=nullptr)
	Determines the approximated robust minimal average square error between two 2D points clouds. More...

template<Estimator::EstimatorType tEstimator>
static Scalar	ambiguousAveragedRobustErrorInPointCloud (const Vector2 imagePoints, const size_t numberImagePoints, const size_t validImagePoints, const Vector2 candidatePoints, const size_t numberCandidatePoints, IndexPairs32 *correspondences=nullptr)
	Determines the ambiguous robust minimal average square error between two 2D points clouds. More...

template<Estimator::EstimatorType tEstimator>
static Scalar	averagedRobustError (const Scalar sqrErrors, const size_t number, const Scalar explicitWeights=nullptr)
	Returns the averaged robust error for a given set of error values using a defined estimator. More...

static Scalar	averagedRobustError (const Scalar sqrErrors, const size_t number, const Estimator::EstimatorType estimator, const Scalar explicitWeights=nullptr)
	Returns the averaged robust error for a given set of error values using a defined estimator. More...

template<Estimator::EstimatorType tEstimator>
static Scalar	averagedRobustError (const Scalar sqrErrors, const unsigned int indices, const size_t numberIndices, const Scalar *explicitWeights=nullptr)
	Returns the averaged robust error for a given set of error values using a defined estimator. More...

static Scalar	averagedRobustError (const Scalar sqrErrors, const unsigned int indices, const size_t numberIndices, const Estimator::EstimatorType estimator, const Scalar *explicitWeights=nullptr)
	Returns the averaged robust error for a given set of error values using a defined estimator. More...

Private Types
typedef std::vector< ErrorElement >	ErrorElements
	Definition of a vector holding error elements. More...

Detailed Description

This class implements to functions to determine the error or accuracy of geometric functions and their parameter.

Member Typedef Documentation

◆ ErrorElements

typedef std::vector<ErrorElement> Ocean::Geometry::Error::ErrorElements

private

Definition of a vector holding error elements.

Member Enumeration Documentation

◆ ErrorDetermination

enum Ocean::Geometry::Error::ErrorDetermination

Definition of different error determination stages.

Enumerator
ED_INVALID	Invalid stage.
ED_UNIQUE	Unique error determination.
ED_APPROXIMATED	Approximated error determination.
ED_AMBIGUOUS	Ambiguous error determination.

Member Function Documentation

◆ ambiguousAveragedRobustErrorInPointCloud()

template<Estimator::EstimatorType tEstimator>

Scalar Ocean::Geometry::Error::ambiguousAveragedRobustErrorInPointCloud	(	const Vector2 *	imagePoints,
		const size_t	numberImagePoints,
		const size_t	validImagePoints,
		const Vector2 *	candidatePoints,
		const size_t	numberCandidatePoints,
		IndexPairs32 *	correspondences = `nullptr`
	)

static

Determines the ambiguous robust minimal average square error between two 2D points clouds.

The given point clouds may not have the same size, and therefore the point order does not define any correspondences.
However, the number of given image points must be smaller or equal to the number of given candidate points.
The minimal error is found by determining the absolute minimal error between image points and candidate points.

Beware: Candidate points already used may be used for any further correspondences also making ambiguous correspondences.
Thus, in a worst case all points may be assigned to one unique candidate point.

Parameters

imagePoints	Image points to determine the minimal errors for, must be valid
numberImagePoints	Number of given image points, with range [1, numberCandidatePoints]
validImagePoints	The number of image points which can be expected to have a unique corresponding point inside the candidate set, with range [1, numberImagePoints]
candidatePoints	Possible candidate image points to be used for finding the minimal error, must be valid
numberCandidatePoints	Number of given candidate points, with range [1, infinity)
correspondences	Optional resulting point correspondences, for each index of an image point one corresponding candidate point index will be returned

Returns: Robust averaged minimal square error

See also: uniqueAveragedRobustErrorInPointCloud(), approximatedAveragedRobustErrorInPointCloud().

Template Parameters

tEstimator Estimator type to be applied

◆ approximatedAveragedRobustErrorInPointCloud()

template<Estimator::EstimatorType tEstimator>

Scalar Ocean::Geometry::Error::approximatedAveragedRobustErrorInPointCloud	(	const Vector2 *	imagePoints,
		const size_t	numberImagePoints,
		const size_t	validImagePoints,
		const Vector2 *	candidatePoints,
		const size_t	numberCandidatePoints,
		IndexPairs32 *	correspondences = `nullptr`
	)

static

Determines the approximated robust minimal average square error between two 2D points clouds.

The given point clouds may not have the same size, and therefore the point order does not define any correspondences.
However, the number of given image points must be smaller or equal to the number of given candidate points.
The minimal error is found by determining the approximated absolute minimal error between image points and candidate points.

Candidate points already used will not be used for any further correspondences creating unique correspondences.
Instead of using a brute force method this function flags already used candidate points to avoid the second usage, however the result may not be the global optimum.

Parameters

imagePoints	Image points to determine the minimal errors for, must be valid
numberImagePoints	Number of given image points, with range [1, numberCandidatePoints]
validImagePoints	The number of image points which can be expected to have a unique corresponding point inside the candidate set, with range [1, numberImagePoints]
candidatePoints	Possible candidate image points to be used for finding the minimal error, must be valid
numberCandidatePoints	Number of given candidate points, with range [1, infinity)
correspondences	Optional resulting point correspondences, for each index of an image point one corresponding candidate point index will be returned

Returns: Robust averaged minimal square error

Template Parameters

tEstimator Estimator type to be applied

See also: uniqueAveragedRobustErrorInPointCloud(), ambiguousAveragedRobustErrorInPointCloud().

◆ averagedRobustError() [1/4]

Scalar Ocean::Geometry::Error::averagedRobustError	(	const Scalar *	sqrErrors,
		const size_t	number,
		const Estimator::EstimatorType	estimator,
		const Scalar *	explicitWeights = `nullptr`
	)

inlinestatic

Returns the averaged robust error for a given set of error values using a defined estimator.

Parameters

sqrErrors	Specified squared error values to return the averaged error for
number	The number of given error values
estimator	Robust estimator to be used for error calculation
explicitWeights	Optional additional weight values individual for each error to be applied to the resulting average robust error only

Returns: Averaged robust error

◆ averagedRobustError() [2/4]

template<Estimator::EstimatorType tEstimator>

Scalar Ocean::Geometry::Error::averagedRobustError	(	const Scalar *	sqrErrors,
		const size_t	number,
		const Scalar *	explicitWeights = `nullptr`
	)

static

Returns the averaged robust error for a given set of error values using a defined estimator.

Parameters

sqrErrors	Specified squared error values to return the averaged error for
number	The number of given error values
explicitWeights	Optional additional weight values individual for each error to be applied to the resulting average robust error only

Returns: Averaged robust error

Template Parameters

tEstimator Robust estimator to be used for error calculation

◆ averagedRobustError() [3/4]

Scalar Ocean::Geometry::Error::averagedRobustError	(	const Scalar *	sqrErrors,
		const unsigned int *	indices,
		const size_t	numberIndices,
		const Estimator::EstimatorType	estimator,
		const Scalar *	explicitWeights = `nullptr`
	)

inlinestatic

Returns the averaged robust error for a given set of error values using a defined estimator.

Not all error values are used but those defined as indices.

Parameters

sqrErrors	Specified squared error values to return the summed error for
indices	Indices of the given error values to be used for error calculation
numberIndices	Number of given indices
estimator	Robust estimator to be used for error calculation
explicitWeights	Optional additional weight values individual for each error to be applied to the resulting average robust error only

Returns: Averaged robust error

◆ averagedRobustError() [4/4]

template<Estimator::EstimatorType tEstimator>

Scalar Ocean::Geometry::Error::averagedRobustError	(	const Scalar *	sqrErrors,
		const unsigned int *	indices,
		const size_t	numberIndices,
		const Scalar *	explicitWeights = `nullptr`
	)

static

Returns the averaged robust error for a given set of error values using a defined estimator.

Not all error values are used but those defined as indices.

Parameters

sqrErrors	Specified squared error values to return the summed error for
indices	Indices of the given error values to be used for error calculation
numberIndices	Number of given indices
explicitWeights	Optional additional weight values individual for each error to be applied to the resulting average robust error only

Returns: Averaged robust error

Template Parameters

tEstimator Robust estimator to be used for error calculation

◆ averagedRobustErrorInPointCloud()

template<Estimator::EstimatorType tEstimator>

Scalar Ocean::Geometry::Error::averagedRobustErrorInPointCloud	(	const Vector2 *	imagePoints,
		const size_t	numberImagePoints,
		const size_t	validImagePoints,
		const Vector2 *	candidatePoints,
		const size_t	numberCandidatePoints,
		const ErrorDetermination	errorDetermination,
		IndexPairs32 *	correspondences = `nullptr`
	)

static

Determines the unique robust minimal average square error between two 2D points clouds.

This function calls uniqueAveragedRobustErrorInPointCloud() or ambiguousAveragedRobustErrorInPointCloud() depending on the uniqueCorrespondences parameter.

Parameters

imagePoints	Image points to determine the minimal errors for, must be valid
numberImagePoints	Number of given image points, with range [1, numberCandidatePoints]
validImagePoints	The number of image points which can be expected to have a unique corresponding point inside the candidate set, with range [1, numberImagePoints]
candidatePoints	Possible candidate image points to be used for finding the minimal error, must be valid
numberCandidatePoints	Number of given candidate points, with range [1, infinity)
errorDetermination	Depending on this flag uniqueAveragedRobustErrorInPointCloud, approximatedAveragedRobustErrorInPointCloud() or ambiguousAveragedRobustErrorInPointCloud() will be used
correspondences	Optional resulting point correspondences, for each index of an image point one corresponding candidate point index will be returned

Returns: Robust averaged square error

Template Parameters

tEstimator Estimator type to be applied

See also: uniqueAveragedRobustErrorInPointCloud(), approximatedAveragedRobustErrorInPointCloud(), ambiguousAveragedRobustErrorInPointCloud().

◆ determineAverageError() [1/3]

static Scalar Ocean::Geometry::Error::determineAverageError	(	const SquareMatrix3 &	firstTransformation,
		const Vectors2 &	firstPoints,
		const SquareMatrix3 &	secondTransformation,
		const Vectors2 &	secondPoints
	)

static

Returns the average square error between two sets of 2D positions.

Each point in the first point set correspond to a point in the second point set with same index.

Parameters

firstTransformation	Transformation that will be applied for all image points from the first set
firstPoints	First set of 2D points, each point has a corresponding point in the second set
secondTransformation	Transformation that will be applied for all image points from the second set
secondPoints	Second set of 2D points

Returns: Average square error between all point correspondences

◆ determineAverageError() [2/3]

static Scalar Ocean::Geometry::Error::determineAverageError	(	const Vectors2 &	firstPoints,
		const Vectors2 &	secondPoints,
		Vector2 *	errors = `nullptr`,
		Scalar *	sqrErrors = `nullptr`
	)

static

Returns the average square error between two sets of 2D positions.

Each point in the first point set correspond to a point in the second point set with same index.

Parameters

firstPoints	First set of 2D points, each point has a corresponding point in the second set
secondPoints	Second set of 2D points
errors	Optional resulting errors individual for each provided point pair, make sure that the provided buffer is large enough
sqrErrors	Optional resulting squared errors individual for each provided point pair, make sure that the provided buffer is large enough

Returns: Average square error between all point correspondences

◆ determineAverageError() [3/3]

static Scalar Ocean::Geometry::Error::determineAverageError	(	const Vectors3 &	firstPoints,
		const Vectors3 &	secondPoints
	)

static

Returns the average square error between two sets of 3D positions.

Each point in the first point set correspond to a point in the second point set with same index.

Parameters

firstPoints	First set of 3D points, each point has a corresponding point in the second set
secondPoints	Second set of 3D points

Returns: Average square error between all point correspondences

◆ determineCameraError() [1/2]

static void Ocean::Geometry::Error::determineCameraError	(	const PinholeCamera &	pinholeCamera,
		const Vector2 *	normalizedObjectPoints,
		const Vector2 *	imagePoints,
		const size_t	correspondences,
		const bool	useDistortionParameters,
		Scalar &	sqrAveragePixelError,
		Scalar &	sqrMinimalPixelError,
		Scalar &	sqrMaximalPixelError
	)

static

Determines the accuracy of the intrinsic camera matrix (and camera distortion parameters if requested).

The accuracy is determined by transforming the normalized 3D image points (3D object points transformed by the flipped and inverted extrinsic matrix) to the image plane.

Parameters

pinholeCamera	The pinhole camera object to be tested
normalizedObjectPoints	Normalized object points
imagePoints	Image points, each point corresponds to one normalized object point
correspondences	Number of correspondences to be checked
useDistortionParameters	True, to respect the distortion parameters of the given camera during object point projection
sqrAveragePixelError	Average square projection pixel error
sqrMinimalPixelError	Minimal square projection pixel error
sqrMaximalPixelError	Maximal square projection pixel error

◆ determineCameraError() [2/2]

static Scalar Ocean::Geometry::Error::determineCameraError	(	const PinholeCamera &	pinholeCamera,
		const Vector2 *	normalizedObjectPoints,
		const Vector2 *	imagePoints,
		const size_t	correspondences,
		const bool	useDistortionParameters,
		Vector2 *	errors = `nullptr`,
		Scalar *	sqrErrors = `nullptr`
	)

static

Determines the accuracy of the intrinsic camera matrix (and camera distortion parameters if requested).

The accuracy is determined by transforming the normalized 3D image points (3D object points transformed by the flipped and inverted extrinsic matrix) to the image plane.

Parameters

pinholeCamera	The pinhole camera object to be tested
normalizedObjectPoints	Normalized object points
imagePoints	Image points, each point corresponds to one normalized object point
correspondences	Number of correspondences to be checked
useDistortionParameters	True, to respect the distortion parameters of the given camera during object point projection
errors	Optional resulting error values individually for each given point correspondence
sqrErrors	Optional resulting squared error values individually for each given point correspondence

Returns: Returns the average square projection pixel error

◆ determineError() [1/2]

static Scalar Ocean::Geometry::Error::determineError	(	const Vectors2 &	firstPoints,
		const Vectors2 &	secondPoints,
		Scalar &	sqrAverageError,
		Scalar &	sqrMinimalError,
		Scalar &	sqrMaximalError
	)

static

Determining the average, minimal and maximal square error between two sets of 2D positions.

Each point in the first point set correspond to a point in the second point set with same index.

Parameters

firstPoints	First set of 2D points, each point has a corresponding point in the second set
secondPoints	Second set of 2D points
sqrAverageError	Average square error of all point correspondences
sqrMinimalError	Minimal square error of all point correspondences
sqrMaximalError	Maximal square error of all point correspondences

Returns: Sum of square errors of all point correspondences

◆ determineError() [2/2]

static Scalar Ocean::Geometry::Error::determineError	(	const Vectors3 &	firstPoints,
		const Vectors3 &	secondPoints,
		Scalar &	sqrAverageError,
		Scalar &	sqrMinimalError,
		Scalar &	sqrMaximalError
	)

static

Returns the average, minimal and maximal square error between two sets of 3D positions.

Each point in the first point set correspond to a point in the second point set with same index.

Parameters

firstPoints	First set of 3D points, each point has a corresponding point in the second set
secondPoints	Second set of 3D points
sqrAverageError	Average square error of all point correspondences
sqrMinimalError	Minimal square error of all point correspondences
sqrMaximalError	Maximal square error of all point correspondences

Returns: Sum of square errors of all point correspondences

◆ determineHomographyError()

template<typename TAccessorImagePoints , bool tResultingErrors, bool tResultingSqrErrors>

Scalar Ocean::Geometry::Error::determineHomographyError	(	const SquareMatrix3 &	points1_H_points0,
		const TAccessorImagePoints &	imagePointAccessor0,
		const TAccessorImagePoints &	imagePointAccessor1,
		Vector2 *	errors = `nullptr`,
		Scalar *	sqrErrors = `nullptr`
	)

static

Determines the accuracy of a given homography for a set of corresponding image points.

The given homography H transforms a point p0 from the first set of image points to the corresponding point p1 from the second set of image points: p1 = H * p0 In case, a transformed point cannot be normalized (de-homogenized) by the z-component, the individual errors will be set to Numeric::maxValue() and the resulting average error will be accordingly.

Parameters

points1_H_points0	The homography transforming points0 to points1, must be valid
imagePointAccessor0	The first set of image points, may be empty
imagePointAccessor1	The second set of image points, each point has a corresponding point in the first set
errors	Optional resulting error values individually for each given point correspondence
sqrErrors	Optional resulting squared error values individually for each given point correspondence

Returns: Returns the average square pixel error

Template Parameters

TAccessorImagePoints	The template type of the accessor for the image points
tResultingErrors	True, if errors is defined
tResultingSqrErrors	True, if sqrErrors is defined

◆ determineInvalidParameters()

static void Ocean::Geometry::Error::determineInvalidParameters	(	const Scalar *	parameters,
		const size_t	number,
		const Scalar	threshold,
		Indices32 &	validIndices
	)

static

Determines the indices of a set of given parameter values that are above a provided threshold.

Parameters

parameters	Parameter values that have to be investigated
number	The number of provided values, with range [1, infinity)
threshold	The threshold that is used to filter the parameter values
validIndices	Resulting indices of the provided parameter values that are above the specified threshold

◆ determinePoseError() [1/7]

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tResultingErrors, bool tResultingSqrErrors>

Scalar Ocean::Geometry::Error::determinePoseError	(	const HomogenousMatrix4 &	world_T_camera,
		const AnyCamera &	anyCamera,
		const TAccessorObjectPoints &	objectPointAccessor,
		const TAccessorImagePoints &	imagePointAccessor,
		Vector2 *	errors = `nullptr`,
		Scalar *	sqrErrors = `nullptr`
	)

inlinestatic

Determines the accuracy of the camera pose based on 2D/3D correspondences.

The accuracy is determined based on the projection errors between projected 3D points and their corresponding 2D image points.

Parameters

world_T_camera	The camera pose, transforming camera to world, must be valid
anyCamera	The camera profile defining the projection, must be valid
objectPointAccessor	The accessor providing the 3D object points corresponding to the given pose
imagePointAccessor	The accessor providing the 2D image points corresponding to the image points, one image point for each object point
errors	Optional resulting error values individually for each given point correspondence
sqrErrors	Optional resulting squared error values individually for each given point correspondence

Returns: Returns the average squared projection pixel error

Template Parameters

TAccessorObjectPoints	The template type of the accessor for the object points
TAccessorImagePoints	The template type of the accessor for the image points
tResultingErrors	True, if errors is defined
tResultingSqrErrors	True, if sqrErrors is defined

◆ determinePoseError() [2/7]

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tOnlyFrontObjectPoints>

bool Ocean::Geometry::Error::determinePoseError	(	const HomogenousMatrix4 &	world_T_camera,
		const AnyCamera &	camera,
		const TAccessorObjectPoints &	objectPointAccessor,
		const TAccessorImagePoints &	imagePointAccessor,
		Scalar &	sqrAveragePixelError,
		Scalar &	sqrMinimalPixelError,
		Scalar &	sqrMaximalPixelError
	)

inlinestatic

Determines the accuracy of a camera pose in combination with the corresponding camera profile.

The accuracy is determined by transforming the given 3D object points using the extrinsic camera parameter and projecting these points onto the image plane.

Parameters

world_T_camera	The camera pose, transforming camera to world, with default camera pointing towards the negative z-space, with y-axis upwards, must be valid
camera	The camera profile defining the projection, must be valid
objectPointAccessor	Accessor providing the 3D object points corresponding to the given pose
imagePointAccessor	Accessor providing the 2D image points corresponding to the image points
sqrAveragePixelError	Average square projection pixel error
sqrMinimalPixelError	Minimal square projection pixel error
sqrMaximalPixelError	Maximal square projection pixel error

Returns: True, if the error could be determined for all point correspondences; False, if the input was invalid or e.g., a 3D object point is located behind the camera and 'tOnlyFrontObjectPoints == true'

Template Parameters

TAccessorObjectPoints	The template type of the accessor for the object points
TAccessorImagePoints	The template type of the accessor for the image points
tOnlyFrontObjectPoints	True, to fail in case a 3D object point is not in front of the camera; False, to ignore whether 3D object points are in front of behind the camera

◆ determinePoseError() [3/7]

template<typename TAccessorObjectPoints , typename TAccessorImagePoints >

void Ocean::Geometry::Error::determinePoseError	(	const HomogenousMatrix4 &	world_T_camera,
		const AnyCamera &	camera,
		const TAccessorObjectPoints &	objectPointAccessor,
		const TAccessorImagePoints &	imagePointAccessor,
		Scalar &	sqrAveragePixelError,
		Scalar &	sqrMinimalPixelError,
		Scalar &	sqrMaximalPixelError
	)

inlinestatic

Deprecated.

Determines the accuracy of a camera pose in combination with the corresponding camera profile. The accuracy is determined by transforming the given 3D object points using the extrinsic camera parameter and projecting these points onto the image plane.

Parameters

world_T_camera	The camera pose, transforming camera to world, with default camera pointing towards the negative z-space, with y-axis upwards, must be valid
camera	The camera profile defining the projection, must be valid
objectPointAccessor	Accessor providing the 3D object points corresponding to the given pose
imagePointAccessor	Accessor providing the 2D image points corresponding to the image points
sqrAveragePixelError	Average square projection pixel error
sqrMinimalPixelError	Minimal square projection pixel error
sqrMaximalPixelError	Maximal square projection pixel error

Template Parameters

TAccessorObjectPoints	The template type of the accessor for the object points
TAccessorImagePoints	The template type of the accessor for the image points

◆ determinePoseError() [4/7]

Vector2 Ocean::Geometry::Error::determinePoseError	(	const HomogenousMatrix4 &	world_T_camera,
		const AnyCamera &	camera,
		const Vector3 &	objectPoint,
		const Vector2 &	imagePoint
	)

inlinestatic

Determines the accuracy of the camera pose based on 2D/3D correspondences.

The accuracy is determined based on the projection errors between projected 3D points and their corresponding 2D image points.

Parameters

world_T_camera	The camera pose transforming camera to world, with default camera pointing towards the negative z-space, with y-axis upwards, must be valid
camera	The camera model defining the projection, must be valid
objectPoint	The 3D Object point, defined in world
imagePoint	The 2D image point corresponding to the object point, defined in the camera pixel domain

Returns: The resulting error value

◆ determinePoseError() [5/7]

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tUseBorderDistortionIfOutside, bool tResultingErrors, bool tResultingSqrErrors>

Scalar Ocean::Geometry::Error::determinePoseError	(	const HomogenousMatrix4 &	world_T_camera,
		const PinholeCamera &	pinholeCamera,
		const TAccessorObjectPoints &	objectPointAccessor,
		const TAccessorImagePoints &	imagePointAccessor,
		const bool	useDistortionParameters,
		const Scalar	zoom = `Scalar(1)`,
		Vector2 *	errors = `nullptr`,
		Scalar *	sqrErrors = `nullptr`
	)

inlinestatic

Determines the accuracy of the camera pose based on 2D/3D correspondences.

The accuracy is determined based on the projection errors between projected 3D points and their corresponding 2D image points.

Parameters

world_T_camera	The camera pose transforming camera to world, must be valid
pinholeCamera	The pinhole camera model defining the projection, must be valid
objectPointAccessor	The accessor providing the 3D object points defined in world
imagePointAccessor	The accessor providing the 2D image points corresponding to the image points, one image point for each object point
useDistortionParameters	True, to respect the distortion parameters of the given camera during object point projection
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor
errors	Optional resulting error values individually for each given point correspondence
sqrErrors	Optional resulting squared error values individually for each given point correspondence

Returns: Returns the average squared projection pixel error

Template Parameters

TAccessorObjectPoints	The template type of the accessor for the object points
TAccessorImagePoints	The template type of the accessor for the image points
tUseBorderDistortionIfOutside	True, to apply the camera distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False, to apply the distortion from the given position
tResultingErrors	True, if errors is defined
tResultingSqrErrors	True, if sqrErrors is defined

◆ determinePoseError() [6/7]

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tUseBorderDistortionIfOutside>

void Ocean::Geometry::Error::determinePoseError	(	const HomogenousMatrix4 &	world_T_camera,
		const PinholeCamera &	pinholeCamera,
		const TAccessorObjectPoints &	objectPointAccessor,
		const TAccessorImagePoints &	imagePointAccessor,
		const bool	useDistortionParameters,
		Scalar &	sqrAveragePixelError,
		Scalar &	sqrMinimalPixelError,
		Scalar &	sqrMaximalPixelError,
		const Scalar	zoom = `Scalar(1)`
	)

inlinestatic

Determines the accuracy of the extrinsic and intrinsic camera matrix (and camera distortion if requested).

The accuracy is determined by transforming the given 3D object points using the extrinsic camera parameter and projecting these points onto the image plane.

Parameters

world_T_camera	The camera pose, transforming camera to world, must be valid
pinholeCamera	The pinhole camera specifying the internal camera parameters and optionally distortion
objectPointAccessor	Accessor providing the 3D object points corresponding to the given pose
imagePointAccessor	Accessor providing the 2D image points corresponding to the image points
useDistortionParameters	True, to respect the distortion parameters of the given camera during object point projection
sqrAveragePixelError	Average square projection pixel error
sqrMinimalPixelError	Minimal square projection pixel error
sqrMaximalPixelError	Maximal square projection pixel error
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Template Parameters

TAccessorObjectPoints	The template type of the accessor for the object points
TAccessorImagePoints	The template type of the accessor for the image points
tUseBorderDistortionIfOutside	True, to apply the camera distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False, to apply the distortion from the given position

◆ determinePoseError() [7/7]

Vector2 Ocean::Geometry::Error::determinePoseError	(	const HomogenousMatrix4 &	world_T_camera,
		const PinholeCamera &	pinholeCamera,
		const Vector3 &	objectPoint,
		const Vector2 &	imagePoint,
		const bool	useDistortionParameters
	)

inlinestatic

Deprecated.

Determines the accuracy of the camera pose based on 2D/3D correspondences. The accuracy is determined based on the projection errors between projected 3D points and their corresponding 2D image points.

Parameters

world_T_camera	The camera pose transforming camera to world, must be valid
pinholeCamera	The pinhole camera model defining the projection, must be valid
objectPoint	3D Object point defined in world
imagePoint	2D Image point corresponding to the object point
useDistortionParameters	True, to respect the distortion parameters of the given camera during object point projection

Returns: Resulting error value

◆ determinePoseErrorIF() [1/7]

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tResultingErrors, bool tResultingSqrErrors>

Scalar Ocean::Geometry::Error::determinePoseErrorIF	(	const HomogenousMatrix4 &	flippedCamera_T_world,
		const AnyCamera &	anyCamera,
		const TAccessorObjectPoints &	objectPointAccessor,
		const TAccessorImagePoints &	imagePointAccessor,
		Vector2 *	errors = `nullptr`,
		Scalar *	sqrErrors = `nullptr`
	)

static

Determines the accuracy of the camera pose based on 2D/3D correspondences.

The accuracy is determined based on the projection errors between projected 3D points and their corresponding 2D image points.

Parameters

flippedCamera_T_world	The inverted and flipped camera pose, transforming world to flipped camera, must be valid
anyCamera	The camera profile defining the projection, must be valid
objectPointAccessor	The accessor providing the 3D object points corresponding to the given pose
imagePointAccessor	The accessor providing the 2D image points corresponding to the image points, one image point for each object point
errors	Optional resulting error values individually for each given point correspondence
sqrErrors	Optional resulting squared error values individually for each given point correspondence

Returns: Returns the average squared projection pixel error

Template Parameters

TAccessorObjectPoints	The template type of the accessor for the object points
TAccessorImagePoints	The template type of the accessor for the image points
tResultingErrors	True, if errors is defined
tResultingSqrErrors	True, if sqrErrors is defined

◆ determinePoseErrorIF() [2/7]

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tOnlyFrontObjectPoints>

bool Ocean::Geometry::Error::determinePoseErrorIF	(	const HomogenousMatrix4 &	flippedCamera_T_world,
		const AnyCamera &	camera,
		const TAccessorObjectPoints &	objectPointAccessor,
		const TAccessorImagePoints &	imagePointAccessor,
		Scalar &	sqrAveragePixelError,
		Scalar &	sqrMinimalPixelError,
		Scalar &	sqrMaximalPixelError
	)

static

Determines the accuracy of a camera pose in combination with the corresponding camera profile.

The accuracy is determined by transforming the given 3D object points using the extrinsic camera parameter and projecting these points onto the image plane.

Parameters

flippedCamera_T_world	The inverted and flipped camera pose, transforming world to flipped camera, with default flipped camera pointing towards the positive z-space, with y-axis downwards, must be valid
camera	The camera profile defining the projection, must be valid
objectPointAccessor	Accessor providing the 3D object points defined in world
imagePointAccessor	Accessor providing the 2D image points corresponding to the image points
sqrAveragePixelError	Average square projection pixel error
sqrMinimalPixelError	Minimal square projection pixel error
sqrMaximalPixelError	Maximal square projection pixel error

Returns: True, if the error could be determined for all point correspondences; False, if the input was invalid or e.g., a 3D object point is located behind the camera and 'tOnlyFrontObjectPoints == true'

Template Parameters

TAccessorObjectPoints	The template type of the accessor for the object points
TAccessorImagePoints	The template type of the accessor for the image points
tOnlyFrontObjectPoints	True, to fail in case a 3D object point is not in front of the camera; False, to ignore whether 3D object points are in front of behind the camera

◆ determinePoseErrorIF() [3/7]

template<typename TAccessorObjectPoints , typename TAccessorImagePoints >

void Ocean::Geometry::Error::determinePoseErrorIF	(	const HomogenousMatrix4 &	flippedCamera_T_world,
		const AnyCamera &	camera,
		const TAccessorObjectPoints &	objectPointAccessor,
		const TAccessorImagePoints &	imagePointAccessor,
		Scalar &	sqrAveragePixelError,
		Scalar &	sqrMinimalPixelError,
		Scalar &	sqrMaximalPixelError
	)

static

Deprecated.

Determines the accuracy of a camera pose in combination with the corresponding camera profile. The accuracy is determined by transforming the given 3D object points using the extrinsic camera parameter and projecting these points onto the image plane.

Parameters

flippedCamera_T_world	The inverted and flipped camera pose, transforming world to flipped camera, with default flipped camera pointing towards the positive z-space, with y-axis downwards, must be valid
camera	The camera profile defining the projection, must be valid
objectPointAccessor	Accessor providing the 3D object points defined in world
imagePointAccessor	Accessor providing the 2D image points corresponding to the image points
sqrAveragePixelError	Average square projection pixel error
sqrMinimalPixelError	Minimal square projection pixel error
sqrMaximalPixelError	Maximal square projection pixel error

Template Parameters

TAccessorObjectPoints	The template type of the accessor for the object points
TAccessorImagePoints	The template type of the accessor for the image points

◆ determinePoseErrorIF() [4/7]

Vector2 Ocean::Geometry::Error::determinePoseErrorIF	(	const HomogenousMatrix4 &	flippedCamera_T_world,
		const AnyCamera &	camera,
		const Vector3 &	objectPoint,
		const Vector2 &	imagePoint
	)

inlinestatic

Determines the accuracy of the camera pose based on 2D/3D correspondences.

The accuracy is determined based on the projection errors between projected 3D points and their corresponding 2D image points.

Parameters

flippedCamera_T_world	The inverted and flipped camera pose, transforming world to flipped camera, with default flipped camera pointing towards the positive z-space, with y-axis downwards, must be valid
camera	The camera profile defining the projection, must be valid
objectPoint	The 3D Object point, defined in world
imagePoint	The 2D image point corresponding to the object point, defined in the camera pixel domain

Returns: The resulting error value

◆ determinePoseErrorIF() [5/7]

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tUseBorderDistortionIfOutside, bool tResultingErrors, bool tResultingSqrErrors>

Scalar Ocean::Geometry::Error::determinePoseErrorIF	(	const HomogenousMatrix4 &	flippedCamera_T_world,
		const PinholeCamera &	pinholeCamera,
		const TAccessorObjectPoints &	objectPointAccessor,
		const TAccessorImagePoints &	imagePointAccessor,
		const bool	useDistortionParameters,
		const Scalar	zoom = `Scalar(1)`,
		Vector2 *	errors = `nullptr`,
		Scalar *	sqrErrors = `nullptr`
	)

static

Determines the accuracy of the camera pose based on 2D/3D correspondences.

The accuracy is determined based on the projection errors between projected 3D points and their corresponding 2D image points.

Parameters

flippedCamera_T_world	Inverted and flipped extrinsic camera pose, transforming world to flipped camera, must be valid
pinholeCamera	The pinhole camera model defining the projection, must be valid
objectPointAccessor	The accessor providing the 3D object points defined in world
imagePointAccessor	The accessor providing the 2D image points corresponding to the image points, one image point for each object point
useDistortionParameters	True, to respect the distortion parameters of the given camera during object point projection
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor
errors	Optional resulting error values individually for each given point correspondence
sqrErrors	Optional resulting squared error values individually for each given point correspondence

Returns: Returns the average squared projection pixel error

Template Parameters

TAccessorObjectPoints	The template type of the accessor for the object points
TAccessorImagePoints	The template type of the accessor for the image points
tUseBorderDistortionIfOutside	True, to apply the camera distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False, to apply the distortion from the given position
tResultingErrors	True, if errors is defined
tResultingSqrErrors	True, if sqrErrors is defined

◆ determinePoseErrorIF() [6/7]

template<typename TAccessorObjectPoints , typename TAccessorImagePoints , bool tUseBorderDistortionIfOutside>

void Ocean::Geometry::Error::determinePoseErrorIF	(	const HomogenousMatrix4 &	flippedCamera_T_world,
		const PinholeCamera &	pinholeCamera,
		const TAccessorObjectPoints &	objectPointAccessor,
		const TAccessorImagePoints &	imagePointAccessor,
		const bool	useDistortionParameters,
		Scalar &	sqrAveragePixelError,
		Scalar &	sqrMinimalPixelError,
		Scalar &	sqrMaximalPixelError,
		const Scalar	zoom = `Scalar(1)`
	)

static

Determines the accuracy of the extrinsic and intrinsic camera matrix (and camera distortion if requested).

The accuracy is determined by transforming the given 3D object points using the extrinsic camera parameter and projecting these points onto the image plane.
Beware: The given camera matrix is not equal to a extrinsic matrix.
Instead, camera matrix is the extrinsic camera matrix flipped around the x-axis and inverted afterwards.

Parameters

flippedCamera_T_world	Inverted and flipped camera pose, transforming world to flipped camera, must be valid
pinholeCamera	The pinhole camera specifying the internal camera parameters and optionally distortion
objectPointAccessor	Accessor providing the 3D object points defined in world
imagePointAccessor	Accessor providing the 2D image points corresponding to the image points
useDistortionParameters	True, to respect the distortion parameters of the given camera during object point projection
sqrAveragePixelError	Average square projection pixel error
sqrMinimalPixelError	Minimal square projection pixel error
sqrMaximalPixelError	Maximal square projection pixel error
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Template Parameters

TAccessorObjectPoints	The template type of the accessor for the object points
TAccessorImagePoints	The template type of the accessor for the image points
tUseBorderDistortionIfOutside	True, to apply the camera distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False, to apply the distortion from the given position

◆ determinePoseErrorIF() [7/7]

Vector2 Ocean::Geometry::Error::determinePoseErrorIF	(	const HomogenousMatrix4 &	flippedCamera_T_world,
		const PinholeCamera &	pinholeCamera,
		const Vector3 &	objectPoint,
		const Vector2 &	imagePoint,
		const bool	useDistortionParameters
	)

inlinestatic

Deprecated.

Determines the accuracy of the camera pose based on 2D/3D correspondences. The accuracy is determined based on the projection errors between projected 3D points and their corresponding 2D image points.

Parameters

flippedCamera_T_world	Inverted and flipped camera pose, transforming world to flipped camera, must be valid
pinholeCamera	The pinhole camera specifying the internal camera parameters and optionally distortion
objectPoint	3D Object point defined in world
imagePoint	2D Image point corresponding to the object point
useDistortionParameters	True, to respect the distortion parameters of the given camera during object point projection

Returns: Resulting error value

◆ determineValidParameters()

static void Ocean::Geometry::Error::determineValidParameters	(	const Scalar *	parameters,
		const size_t	number,
		const Scalar	threshold,
		Indices32 &	validIndices
	)

static

Determines the indices of a set of given parameter values that are below ore equal to a provided threshold.

Parameters

parameters	Parameter values that have to be investigated
number	The number of provided values, with range [1, infinity)
threshold	The threshold that is used to filter the parameter values
validIndices	Resulting indices of the provided parameter values that are below the specified threshold

◆ posesAlmostEqual() [1/3]

bool Ocean::Geometry::Error::posesAlmostEqual	(	const HomogenousMatrix4 &	poseFirst,
		const HomogenousMatrix4 &	poseSecond,
		const Scalar	maxOrientationOffset
	)

inlinestatic

Returns whether the offsets between two given 6DOF poses are below specified thresholds.

Parameters

poseFirst	First pose to be checked
poseSecond	Second poses to be checked
maxOrientationOffset	Maximal allowed orientation offset, defined in radian, might be Numeric::deg2rad(15)

Returns: True, if so

◆ posesAlmostEqual() [2/3]

bool Ocean::Geometry::Error::posesAlmostEqual	(	const HomogenousMatrix4 &	poseFirst,
		const HomogenousMatrix4 &	poseSecond,
		const Vector3 &	maxTranslationOffset
	)

inlinestatic

Returns whether the offsets between two given 6DOF poses are below specified thresholds.

Parameters

poseFirst	First pose to be checked
poseSecond	Second poses to be checked
maxTranslationOffset	Maximal allowed translation offset, with positive values for the individual translation axes, might be Vector3(Scalar(0.1), Scalar(0.1), Scalar(0.1))

Returns: True, if so

◆ posesAlmostEqual() [3/3]

static bool Ocean::Geometry::Error::posesAlmostEqual	(	const HomogenousMatrix4 &	poseFirst,
		const HomogenousMatrix4 &	poseSecond,
		const Vector3 &	maxTranslationOffset = `Vector3(Scalar(0.1), Scalar(0.1), Scalar(0.1))`,
		const Scalar	maxOrientationOffset = `Numeric::deg2rad(15)`
	)

static

Returns whether the offsets between two given 6DOF poses are below specified thresholds.

Parameters

poseFirst	First pose to be checked
poseSecond	Second poses to be checked
maxTranslationOffset	Maximal allowed translation offset, with positive values for the individual translation axes
maxOrientationOffset	Maximal allowed orientation offset, defined in radian

Returns: True, if so

◆ uniqueAveragedRobustErrorInPointCloud()

template<Estimator::EstimatorType tEstimator>

Scalar Ocean::Geometry::Error::uniqueAveragedRobustErrorInPointCloud	(	const Vector2 *	imagePoints,
		const size_t	numberImagePoints,
		const size_t	validImagePoints,
		const Vector2 *	candidatePoints,
		const size_t	numberCandidatePoints,
		IndexPairs32 *	correspondences = `nullptr`
	)

static

Determines the unique robust minimal average square error between two 2D points clouds.

The given point clouds may not have the same size, and therefore the point order does not define any correspondences.
However, the number of given image points must be smaller or equal to the number of given candidate points.
The minimal error is found by determining the absolute minimal error between image points and candidate points.

Candidate points already used will not be used for any further correspondences creating unique correspondences.
The uniqueness is guaranteed due to a brute force calculation of all possible distances.

Parameters

imagePoints	Image points to determine the minimal errors for, must be valid
numberImagePoints	Number of given image points, with range [1, numberCandidatePoints]
validImagePoints	The number of image points which can be expected to have a unique corresponding point inside the candidate set, with range [1, numberImagePoints]
candidatePoints	Possible candidate image points to be used for finding the minimal error, must be valid
numberCandidatePoints	Number of given candidate points, with range [1, infinity)
correspondences	Optional resulting point correspondences, for each index of an image point one corresponding candidate point index will be returned

Returns: Robust averaged minimal square error

Template Parameters

tEstimator Estimator type to be applied

See also: approximatedAveragedRobustErrorInPointCloud(), ambiguousAveragedRobustErrorInPointCloud().

The documentation for this class was generated from the following file:

Error.h

Data Structures

Public Types

Static Public Member Functions

Private Types

Detailed Description

Member Typedef Documentation

◆ ErrorElements

Member Enumeration Documentation

◆ ErrorDetermination

Member Function Documentation

◆ ambiguousAveragedRobustErrorInPointCloud()

◆ approximatedAveragedRobustErrorInPointCloud()

◆ averagedRobustError() [1/4]

◆ averagedRobustError() [2/4]

◆ averagedRobustError() [3/4]

◆ averagedRobustError() [4/4]

◆ averagedRobustErrorInPointCloud()

◆ determineAverageError() [1/3]

◆ determineAverageError() [2/3]

◆ determineAverageError() [3/3]

◆ determineCameraError() [1/2]

◆ determineCameraError() [2/2]

◆ determineError() [1/2]

◆ determineError() [2/2]

◆ determineHomographyError()

◆ determineInvalidParameters()

◆ determinePoseError() [1/7]

◆ determinePoseError() [2/7]

◆ determinePoseError() [3/7]

◆ determinePoseError() [4/7]

◆ determinePoseError() [5/7]

◆ determinePoseError() [6/7]

◆ determinePoseError() [7/7]

◆ determinePoseErrorIF() [1/7]

◆ determinePoseErrorIF() [2/7]

◆ determinePoseErrorIF() [3/7]

◆ determinePoseErrorIF() [4/7]

◆ determinePoseErrorIF() [5/7]

◆ determinePoseErrorIF() [6/7]

◆ determinePoseErrorIF() [7/7]

◆ determineValidParameters()

◆ posesAlmostEqual() [1/3]

◆ posesAlmostEqual() [2/3]

◆ posesAlmostEqual() [3/3]

◆ uniqueAveragedRobustErrorInPointCloud()