Ocean::Geometry::GravityConstraintsT< T > Class Template Reference

This class implements a container allowing to define gravity constraints during e.g., camera poses estimation or optimization. More...

#include <GravityConstraints.h>

Public Member Functions
	GravityConstraintsT ()=default
	Creates a default constraint object with invalid parameters.
	GravityConstraintsT (const VectorT3< T > &cameraGravityInCamera, const VectorT3< T > &worldGravityInWorld=VectorT3< T >(0, -1, 0), const T weightFactor=T(1), const T maximalAngle=NumericT< T >::deg2rad(5))
	Creates a new gravity constraints object for one camera for which the gravity vector is known (in the camera coordinate system).
	GravityConstraintsT (VectorsT3< T > &&cameraGravityInCameras, const VectorT3< T > &worldGravityInWorld=VectorT3< T >(0, -1, 0), const T weightFactor=T(1), const T maximalAngle=NumericT< T >::deg2rad(5))
	Creates a new gravity constraints object for several cameras for which the gravity vectors are known (in the camera coordinate system).
	GravityConstraintsT (const HomogenousMatrixT4< T > &world_T_camera, const VectorT3< T > &worldGravityInWorld=VectorT3< T >(0, -1, 0), const T weightFactor=T(1), const T maximalAngle=NumericT< T >::deg2rad(5))
	Creates a new gravity constraints object for one camera for which the precise camera pose is known.
	GravityConstraintsT (const HomogenousMatricesT4< T > &world_T_cameras, const VectorT3< T > &worldGravityInWorld=VectorT3< T >(0, -1, 0), const T weightFactor=T(1), const T maximalAngle=NumericT< T >::deg2rad(5))
	Creates a new gravity constraints object for several cameras for which the precise camera poses are known.
	GravityConstraintsT (const GravityConstraintsT< T > &constraints, const size_t cameraIndex)
	Creates a new gravity constraints object for a single camera from a given constraints object with several cameras.
	GravityConstraintsT (const GravityConstraintsT< T > *constraints, const size_t cameraIndex)
	Creates a new gravity constraints object for a single camera from a given constraints object with several cameras.
const VectorT3< T > &	cameraGravityInCamera (const size_t cameraIndex=0) const
	Returns the camera gravity vector (which is known for a camera pose), defined in the camera coordinate system, with default camera pointing towards the negative z-space and y-axis pointing upwards.
VectorT3< T >	cameraGravityInFlippedCamera (const size_t cameraIndex=0) const
	Returns the camera gravity vector (which is known for a camera pose), defined in the flipped camera coordinate system, with default flipped camera pointing towards the positive z-axis and y-axis pointing downwards.
VectorT3< T >	cameraGravityInWorld (const QuaternionT< T > &world_Q_camera, const size_t cameraIndex=0) const
	Returns the camera gravity vector (which is known for a camera pose), defined in the world coordinate system.
VectorT3< T >	cameraGravityInWorld (const HomogenousMatrixT4< T > &world_T_camera, const size_t cameraIndex=0) const
	Returns the camera gravity vector (which is known for a camera pose), defined in the world coordinate system.
const Gravities &	cameraGravitiesInCamera () const
	Returns the camera gravity vectors (which are known for one or several camera poses) defined in the camera coordinate system, with default camera pointing towards the negative z-space and y-axis pointing upwards.
const VectorT3< T > &	worldGravityInWorld () const
	Returns the world gravity vector defined in the world coordinate system.
VectorT3< T >	worldGravityInFlippedCameraIF (const QuaternionT< T > &flippedCamera_Q_world) const
	Returns the world gravity vector defined in the flipped camera coordinate system, with default flipped camera pointing towards the positive z-axis and y-axis pointing downwards.
VectorT3< T >	worldGravityInFlippedCameraIF (const HomogenousMatrixT4< T > &flippedCamera_T_world) const
	Returns the world gravity vector defined in the flipped camera coordinate system, with default flipped camera pointing towards the positive z-axis and y-axis pointing downwards.
QuaternionT< T >	world_R_camera (const size_t cameraIndex) const
	Returns one possible rotation between camera and world.
QuaternionT< T >	camera_R_world (const size_t cameraIndex) const
	Returns one possible rotation between world and camera.
QuaternionT< T >	flippedCamera_R_world (const size_t cameraIndex) const
	Returns one possible rotation between world and the flipped camera.
T	weightFactor () const
	Returns the weight factor to be used during a non-linear optimization of a camera pose; 0 to skip any gravity correction, 1 to apply a normal/default gravity correction, larger values to apply a stronger gravity correction.
T	maximalAngle () const
	Returns the maximal angle between world and camera gravity vectors (when converted into the same coordinate system), can be used e.g., when the camera pose is determined e.g., with RANSAC or a PnP algorithm.
T	minimalAngleCos () const
	Returns the cosine value of maximalAngle().
size_t	numberCameras () const
	Returns the number of cameras for which gravity constraints are defined.
T	alignmentCosine (const QuaternionT< T > &world_Q_camera, const size_t cameraIndex=0) const
	Returns the cosine between the world gravity vector and the camera gravity vector (after converting into the same coordinate system).
T	alignmentCosine (const HomogenousMatrixT4< T > &world_T_camera, const size_t cameraIndex=0) const
	Returns the cosine between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.
T	alignmentCosineIF (const QuaternionT< T > &flippedCamera_Q_world, const size_t cameraIndex=0) const
	Returns the cosine between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.
T	alignmentCosineIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const size_t cameraIndex=0) const
	Returns the cosine between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.
T	alignmentAngle (const QuaternionT< T > &world_Q_camera, const size_t cameraIndex=0) const
	Returns the angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.
T	alignmentAngle (const HomogenousMatrixT4< T > &world_T_camera, const size_t cameraIndex=0) const
	Returns the angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.
T	alignmentAngleIF (const QuaternionT< T > &flippedCamera_Q_world, const size_t cameraIndex=0) const
	Returns the angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.
T	alignmentAngleIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const size_t cameraIndex=0) const
	Returns the angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.
bool	isCameraAlignedWithGravity (const QuaternionT< T > &world_Q_camera, const size_t cameraIndex=0) const
	Returns whether a camera pose is aligned with the gravity constraints using the specified angle threshold.
bool	isCameraAlignedWithGravity (const HomogenousMatrixT4< T > &world_T_camera, const size_t cameraIndex=0) const
	Returns whether a camera pose is aligned with the gravity constraints using the specified angle threshold.
bool	isCameraAlignedWithGravityIF (const QuaternionT< T > &flippedCamera_Q_world, const size_t cameraIndex=0) const
	Returns whether a provided flipped and inverted camera pose is aligned with the gravity constraints using the specified angle threshold.
bool	isCameraAlignedWithGravityIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const size_t cameraIndex=0) const
	Returns whether a provided flipped and inverted camera pose is aligned with the gravity constraints using the specified angle threshold.
bool	isCameraAlignedWithGravity (const QuaternionT< T > &world_Q_camera, const size_t cameraIndex, const T maxAngle) const
	Returns whether a camera pose is aligned with the gravity constraints using a custom angle threshold.
bool	isCameraAlignedWithGravity (const HomogenousMatrixT4< T > &world_T_camera, const size_t cameraIndex, const T maxAngle) const
	Returns whether a camera pose is aligned with the gravity constraints using a custom angle threshold.
bool	isCameraAlignedWithGravityIF (const QuaternionT< T > &flippedCamera_Q_world, const size_t cameraIndex, const T maxAngle) const
	Returns whether a provided flipped and inverted camera pose is aligned with the gravity constraints using a custom angle threshold.
bool	isCameraAlignedWithGravityIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const size_t cameraIndex, const T maxAngle) const
	Returns whether a provided flipped and inverted camera pose is aligned with the gravity constraints using a custom angle threshold.
HomogenousMatrixT4< T >	alignCameraWithGravity (const HomogenousMatrixT4< T > &world_T_camera, const size_t cameraIndex=0) const
	Rotates a camera pose so that the camera is aligned with the gravity constraints.
HomogenousMatrixT4< T >	alignCameraWithGravityIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const size_t cameraIndex=0) const
	Rotates a inverted and flipped camera pose so that the flipped camera is aligned with the gravity constraints.
const GravityConstraintsT< T > *	conditionalPointer (const bool pointerIfValid=true) const
	Returns the pointer to this gravity constraints object if it is valid.
bool	isValid () const
	Returns whether this constraint object holds valid parameters.

Static Public Member Functions
static VectorT3< T >	cameraGravityInCamera (const QuaternionT< T > &camera_Q_world, const VectorT3< T > &worldGravityInWorld)
	Helper function returning the camera gravity vector in the camera coordinate system based on a given camera pose and the world gravity vector.
static VectorT3< T >	cameraGravityInCamera (const HomogenousMatrixT4< T > &camera_T_world, const VectorT3< T > &worldGravityInWorld)
	Helper function returning the camera gravity vector in the camera coordinate system based on a given camera pose and the world gravity vector.
static VectorT3< T >	cameraGravityInCameraIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const VectorT3< T > &worldGravityInWorld)
	Helper function returning the camera gravity vector in the camera coordinate system based on a given camera pose and the world gravity vector.
static VectorT3< T >	cameraGravityInFlippedCameraIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const VectorT3< T > &worldGravityInWorld)
	Helper function returning the camera gravity vector in the flipped camera coordinate system based on a given camera pose and the world gravity vector.

Protected Types
using	Gravities = StackHeapVector< VectorT3< T >, 2 >
	Definition of a vector holding gravity vectors.

Protected Attributes
Gravities	cameraGravityInCameras_
	The gravity vectors which are known for one or more camera poses, defined in the camera coordinate system, with default camera pointing towards the negative z-space and y-axis pointing upwards.
VectorT3< T >	worldGravityInWorld_ = VectorT3<T>(0, -1, 0)
	The world gravity vector defined in the world coordinate system, mainly defining how the world coordinate system is oriented/aligned wrt gravity.
T	weightFactor_ = T(-1)
	The weight factor to be used during a non-linear optimization of a camera pose; 0 to skip any gravity correction, 1 to apply a full gravity correction; with range [0, 1).
T	maximalAngle_ = T(-1)
	The maximal angle between world and camera gravity vectors (when converted into the same coordinate system), can be used e.g., when the camera pose is determined e.g., with RANSAC or a PnP algorithm, in radian, with range [0, PI/2).
T	minimalAngleCos_ = T(-1)
	The cosine value of maximalAngle(), with range [0, 1].

Detailed Description

template<typename T>
class Ocean::Geometry::GravityConstraintsT< T >

This class implements a container allowing to define gravity constraints during e.g., camera poses estimation or optimization.

The constraint is defined by a gravity vector defined in the world coordinate system (e.g., VectorT3<T>(0, -1, 0) for a gravity vector pointing towards the earth, in case the y-axis is pointing towards the sky).
Further, the constraints define a gravity vector for each camera, defined in the camera coordinate system, with default camera pointing towards the negative z-space and y-axis pointing upwards.
The camera gravity vector(s) may be provided by a IMU sensor.
All gravity vectors must be normalized (must be unit vectors).

Template Parameters

T	The data type of a scalar, either 'float' or 'double'

Member Typedef Documentation

Gravities

template<typename T >

using Ocean::Geometry::GravityConstraintsT< T >::Gravities = StackHeapVector<VectorT3<T>, 2>

protected

Definition of a vector holding gravity vectors.

Constructor & Destructor Documentation

GravityConstraintsT() [1/7]

template<typename T >

Ocean::Geometry::GravityConstraintsT< T >::GravityConstraintsT ( )

default

Creates a default constraint object with invalid parameters.

GravityConstraintsT() [2/7]

template<typename T >

Ocean::Geometry::GravityConstraintsT< T >::GravityConstraintsT ( const VectorT3< T > &  cameraGravityInCamera, const VectorT3< T > &  worldGravityInWorld = VectorT3<T>(0, -1, 0), const T  weightFactor = T(1), const T  maximalAngle = NumericT<T>::deg2rad(5)  )

inlineexplicit

Creates a new gravity constraints object for one camera for which the gravity vector is known (in the camera coordinate system).

Parameters

gravityInCamera	The camera gravity vector (which is known for a camera pose), defined in the camera coordinate system, with default camera pointing towards the negative z-space and y-axis pointing upwards.
worldGravityInWorld	The world gravity vector in the world coordinate system, mainly defining how the world coordinate system is oriented/aligned wrt gravity
weightFactor	The weight factor to be used during a non-linear optimization of a camera pose; 0 to skip any gravity correction, 1 to apply a normal/default gravity correction, larger values to apply a stronger gravity correction, with range [0, infinity)
maximalAngle	The maximal angle between world and camera gravity vector (when converted into the same coordinate system), can be used e.g., when the camera pose is determined e.g., with RANSAC or a PnP algorithm, in radian, with range [0, PI/2).

GravityConstraintsT() [3/7]

template<typename T >

Ocean::Geometry::GravityConstraintsT< T >::GravityConstraintsT ( VectorsT3< T > &&  cameraGravityInCameras, const VectorT3< T > &  worldGravityInWorld = VectorT3<T>(0, -1, 0), const T  weightFactor = T(1), const T  maximalAngle = NumericT<T>::deg2rad(5)  )

inlineexplicit

Creates a new gravity constraints object for several cameras for which the gravity vectors are known (in the camera coordinate system).

Parameters

gravityInCameras	The camera gravity vectors (which are known for several camera poses), defined in the camera coordinate system, with default camera pointing towards the negative z-space and y-axis pointing upwards.
worldGravityInWorld	The world gravity vector in the world coordinate system, mainly defining how the world coordinate system is oriented/aligned wrt gravity
weightFactor	The weight factor to be used during a non-linear optimization of a camera pose; 0 to skip any gravity correction, 1 to apply a normal/default gravity correction, larger values to apply a stronger gravity correction, with range [0, infinity)
maximalAngle	The maximal angle between world and camera gravity vectors (when converted into the same coordinate system), can be used e.g., when the camera pose is determined e.g., with RANSAC or a PnP algorithm, in radian, with range [0, PI/2).

GravityConstraintsT() [4/7]

template<typename T >

Ocean::Geometry::GravityConstraintsT< T >::GravityConstraintsT ( const HomogenousMatrixT4< T > &  world_T_camera, const VectorT3< T > &  worldGravityInWorld = VectorT3<T>(0, -1, 0), const T  weightFactor = T(1), const T  maximalAngle = NumericT<T>::deg2rad(5)  )

inlineexplicit

Creates a new gravity constraints object for one camera for which the precise camera pose is known.

The camera gravity vector is determined from the precise camera pose.

Parameters

world_T_camera	The transformation transforming camera to world, with default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
worldGravityInWorld	The world gravity vector in the world coordinate system, mainly defining how the world coordinate system is oriented/aligned wrt gravity
weightFactor	The weight factor to be used during a non-linear optimization of a camera pose; 0 to skip any gravity correction, 1 to apply a normal/default gravity correction, larger values to apply a stronger gravity correction, with range [0, infinity)
maximalAngle	The maximal angle between world and camera gravity vector (when converted into the same coordinate system), can be used e.g., when the camera pose is determined e.g., with RANSAC or a PnP algorithm, in radian, with range [0, PI/2).

GravityConstraintsT() [5/7]

template<typename T >

Ocean::Geometry::GravityConstraintsT< T >::GravityConstraintsT ( const HomogenousMatricesT4< T > &  world_T_cameras, const VectorT3< T > &  worldGravityInWorld = VectorT3<T>(0, -1, 0), const T  weightFactor = T(1), const T  maximalAngle = NumericT<T>::deg2rad(5)  )

inlineexplicit

Creates a new gravity constraints object for several cameras for which the precise camera poses are known.

The camera gravity vectors are determined from the precise camera poses.

Parameters

world_T_cameras	The transformations transforming camera to world, with default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
worldGravityInWorld	The world gravity vector in the world coordinate system, mainly defining how the world coordinate system is oriented/aligned wrt gravity
weightFactor	The weight factor to be used during a non-linear optimization of a camera pose; 0 to skip any gravity correction, 1 to apply a normal/default gravity correction, larger values to apply a stronger gravity correction, with range [0, infinity)
maximalAngle	The maximal angle between world and camera gravity vectors (when converted into the same coordinate system), can be used e.g., when the camera pose is determined e.g., with RANSAC or a PnP algorithm, in radian, with range [0, PI/2).

GravityConstraintsT() [6/7]

template<typename T >

Ocean::Geometry::GravityConstraintsT< T >::GravityConstraintsT ( const GravityConstraintsT< T > &  constraints, const size_t  cameraIndex  )

inline

Creates a new gravity constraints object for a single camera from a given constraints object with several cameras.

Parameters

constraints	The constraints object with several cameras, must be valid
cameraIndex	The index of the camera for which the gravity constraint will be extracted, with range [0, constraints.numberCameras() - 1]

GravityConstraintsT() [7/7]

template<typename T >

Ocean::Geometry::GravityConstraintsT< T >::GravityConstraintsT ( const GravityConstraintsT< T > *  constraints, const size_t  cameraIndex  )

inline

Creates a new gravity constraints object for a single camera from a given constraints object with several cameras.

The constructor will create an invalid object if the given constraints object is nullptr.

Parameters

constraints	The constraints object with several cameras, nullptr to create an invalid constraint object, must be valid if not nullptr
cameraIndex	The index of the camera for which the gravity constraint will be extracted, with range [0, constraints.numberCameras() - 1]

Member Function Documentation

alignCameraWithGravity()

template<typename T >

HomogenousMatrixT4< T > Ocean::Geometry::GravityConstraintsT< T >::alignCameraWithGravity	(	const HomogenousMatrixT4< T > &	world_T_camera,
		const size_t	cameraIndex = 0
	)		const

Rotates a camera pose so that the camera is aligned with the gravity constraints.

Parameters

world_T_camera	The transformation transforming camera to world, with a default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the alignment will be performed, with range [0, numberCameras() - 1]

Returns

The camera pose aligned with the gravity constraints (world_T_alignedCamera)

alignCameraWithGravityIF()

template<typename T >

HomogenousMatrixT4< T > Ocean::Geometry::GravityConstraintsT< T >::alignCameraWithGravityIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const size_t	cameraIndex = 0
	)		const

Rotates a inverted and flipped camera pose so that the flipped camera is aligned with the gravity constraints.

Parameters

flippedCamera_T_world	The transformation transforming world to flipped camera, with a default flipped camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
cameraIndex	The index of the camera for which the alignment will be performed, with range [0, numberCameras() - 1]

Returns

The flipped inverted and flipped camera pose aligned with the gravity constraints (alignedFlippedCamera_T_world)

alignmentAngle() [1/2]

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::alignmentAngle ( const HomogenousMatrixT4< T > &  world_T_camera, const size_t  cameraIndex = 0  ) const

inline

Returns the angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.

Parameters

world_T_camera	The transformation transforming camera to world, with a default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the angle will be returned, with range [0, numberCameras() - 1]

Returns

The angle between the world gravity vector and the camera gravity vector, in radian, with range [0, PI]

alignmentAngle() [2/2]

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::alignmentAngle ( const QuaternionT< T > &  world_Q_camera, const size_t  cameraIndex = 0  ) const

inline

Returns the angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.

Parameters

world_Q_camera	The rotation rotating camera to world, with a default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the angle will be returned, with range [0, numberCameras() - 1]

Returns

The angle between the world gravity vector and the camera gravity vector, in radian, with range [0, PI]

alignmentAngleIF() [1/2]

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::alignmentAngleIF ( const HomogenousMatrixT4< T > &  flippedCamera_T_world, const size_t  cameraIndex = 0  ) const

inline

Returns the angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.

Parameters

flippedCamera_T_world	The transformation transforming world to flipped camera, with a default flipped camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
cameraIndex	The index of the camera for which the angle will be returned, with range [0, numberCameras() - 1]

Returns

The angle between the world gravity vector and the camera gravity vector, in radian, with range [0, PI]

alignmentAngleIF() [2/2]

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::alignmentAngleIF ( const QuaternionT< T > &  flippedCamera_Q_world, const size_t  cameraIndex = 0  ) const

inline

Returns the angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.

Parameters

flippedCamera_Q_world	The rotation rotating world to flipped camera, with a default flipped camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
cameraIndex	The index of the camera for which the angle will be returned, with range [0, numberCameras() - 1]

Returns

The angle between the world gravity vector and the camera gravity vector, in radian, with range [0, PI]

alignmentCosine() [1/2]

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::alignmentCosine ( const HomogenousMatrixT4< T > &  world_T_camera, const size_t  cameraIndex = 0  ) const

inline

Returns the cosine between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.

Parameters

world_T_camera	The transformation transforming camera to world, with a default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the cosine will be returned, with range [0, numberCameras() - 1]

Returns

The cosine of the angle between the world gravity vector and the camera gravity vector, with range [-1, 1]

alignmentCosine() [2/2]

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::alignmentCosine ( const QuaternionT< T > &  world_Q_camera, const size_t  cameraIndex = 0  ) const

inline

Returns the cosine between the world gravity vector and the camera gravity vector (after converting into the same coordinate system).

Parameters

world_Q_camera	The rotation rotating camera to world, with a default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the cosine will be returned, with range [0, numberCameras() - 1]

Returns

The cosine of the angle between the world gravity vector and the camera gravity vector, with range [-1, 1]

alignmentCosineIF() [1/2]

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::alignmentCosineIF ( const HomogenousMatrixT4< T > &  flippedCamera_T_world, const size_t  cameraIndex = 0  ) const

inline

Returns the cosine between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.

Parameters

flippedCamera_T_world	The transformation transforming world to flipped camera, with a default flipped camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
cameraIndex	The index of the camera for which the cosine will be returned, with range [0, numberCameras() - 1]

Returns

The cosine of the angle between the world gravity vector and the camera gravity vector, with range [-1, 1]

alignmentCosineIF() [2/2]

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::alignmentCosineIF ( const QuaternionT< T > &  flippedCamera_Q_world, const size_t  cameraIndex = 0  ) const

inline

Returns the cosine between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian.

Parameters

flippedCamera_Q_world	The rotation rotating world to flipped camera, with a default flipped camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
cameraIndex	The index of the camera for which the cosine will be returned, with range [0, numberCameras() - 1]

Returns

The cosine of the angle between the world gravity vector and the camera gravity vector, with range [-1, 1]

camera_R_world()

template<typename T >

QuaternionT< T > Ocean::Geometry::GravityConstraintsT< T >::camera_R_world ( const size_t  cameraIndex ) const

inline

Returns one possible rotation between world and camera.

The resulting rotation contains a remaining degree of freedom as the rotation is only based on the corresponding gravity vectors.
Any rotation around the gravity vector would be a valid rotation as well.

Parameters

cameraIndex

The index of the camera for which the rotation will be returned, with range [0, numberCameras() - 1]

Returns

The requested rotation, with default camera pointing towards the negative z-space and y-axis pointing upwards

cameraGravitiesInCamera()

template<typename T >

const GravityConstraintsT< T >::Gravities & Ocean::Geometry::GravityConstraintsT< T >::cameraGravitiesInCamera ( ) const

inline

Returns the camera gravity vectors (which are known for one or several camera poses) defined in the camera coordinate system, with default camera pointing towards the negative z-space and y-axis pointing upwards.

Returns

The known gravity vectors for one or several cameras

cameraGravityInCamera() [1/3]

template<typename T >

VectorT3< T > Ocean::Geometry::GravityConstraintsT< T >::cameraGravityInCamera ( const HomogenousMatrixT4< T > &  camera_T_world, const VectorT3< T > &  worldGravityInWorld  )

static

Helper function returning the camera gravity vector in the camera coordinate system based on a given camera pose and the world gravity vector.

The resulting camera gravity vector is obtained by converting the world gravity vector into the camera coordinate system.

Parameters

camera_T_world	The transformation transforming world to camera, with default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
worldGravityInWorld	The world gravity vector defined in the world coordinate system, must be a unit vector

Returns

The camera gravity vector in the camera coordinate system

cameraGravityInCamera() [2/3]

template<typename T >

VectorT3< T > Ocean::Geometry::GravityConstraintsT< T >::cameraGravityInCamera ( const QuaternionT< T > &  camera_Q_world, const VectorT3< T > &  worldGravityInWorld  )

static

Helper function returning the camera gravity vector in the camera coordinate system based on a given camera pose and the world gravity vector.

The resulting camera gravity vector is obtained by converting the world gravity vector into the camera coordinate system.

Parameters

camera_Q_world	The rotation rotating world to camera, with default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
worldGravityInWorld	The world gravity vector defined in the world coordinate system, must be a unit vector

Returns

The camera gravity vector in the camera coordinate system

cameraGravityInCamera() [3/3]

template<typename T >

const VectorT3< T > & Ocean::Geometry::GravityConstraintsT< T >::cameraGravityInCamera ( const size_t  cameraIndex = 0 ) const

inline

Returns the camera gravity vector (which is known for a camera pose), defined in the camera coordinate system, with default camera pointing towards the negative z-space and y-axis pointing upwards.

Parameters

cameraIndex

The index of the camera for which the gravity vector is requested, with range [0, numberCameras() - 1]

Returns

The known gravity vector for a specified camera, defined in the camera coordinate system

cameraGravityInCameraIF()

template<typename T >

VectorT3< T > Ocean::Geometry::GravityConstraintsT< T >::cameraGravityInCameraIF ( const HomogenousMatrixT4< T > &  flippedCamera_T_world, const VectorT3< T > &  worldGravityInWorld  )

static

Helper function returning the camera gravity vector in the camera coordinate system based on a given camera pose and the world gravity vector.

The resulting camera gravity vector is obtained by converting the world gravity vector into the camera coordinate system.,br> This function return the same gravity vector as cameraGravityInCamera(), but uses the flipped camera pose as input parameter.

Parameters

flippedCamera_T_world	The transformation transforming world to flipped camera, with default camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
worldGravityInWorld	The world gravity vector defined in the world coordinate system, must be a unit vector

Returns

The camera gravity vector in the standard camera coordinate system (not in the flipped camera coordinate system)

See also

cameraGravityInCamera(), cameraGravityInFlippedCameraIF().

cameraGravityInFlippedCamera()

template<typename T >

VectorT3< T > Ocean::Geometry::GravityConstraintsT< T >::cameraGravityInFlippedCamera ( const size_t  cameraIndex = 0 ) const

inline

Returns the camera gravity vector (which is known for a camera pose), defined in the flipped camera coordinate system, with default flipped camera pointing towards the positive z-axis and y-axis pointing downwards.

Parameters

cameraIndex

The index of the camera for which the gravity vector is requested, with range [0, numberCameras() - 1]

Returns

The known gravity vector for a specified camera, defined in the flipped camera coordinate system

cameraGravityInFlippedCameraIF()

template<typename T >

VectorT3< T > Ocean::Geometry::GravityConstraintsT< T >::cameraGravityInFlippedCameraIF ( const HomogenousMatrixT4< T > &  flippedCamera_T_world, const VectorT3< T > &  worldGravityInWorld  )

static

Helper function returning the camera gravity vector in the flipped camera coordinate system based on a given camera pose and the world gravity vector.

The resulting camera gravity vector is obtained by converting the world gravity vector into the flipped camera coordinate system.

Parameters

flippedCamera_T_world	The transformation transforming world to flipped camera, with default camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
worldGravityInWorld	The world gravity vector defined in the world coordinate system, must be a unit vector

Returns

The camera gravity vector in the flipped camera coordinate system

cameraGravityInWorld() [1/2]

template<typename T >

VectorT3< T > Ocean::Geometry::GravityConstraintsT< T >::cameraGravityInWorld ( const HomogenousMatrixT4< T > &  world_T_camera, const size_t  cameraIndex = 0  ) const

inline

Returns the camera gravity vector (which is known for a camera pose), defined in the world coordinate system.

Parameters

world_T_camera	The transformation transforming camera to world, with default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the gravity vector is requested, with range [0, numberCameras() - 1]

Returns

The known gravity vector for a specified camera, defined in the world coordinate system

cameraGravityInWorld() [2/2]

template<typename T >

VectorT3< T > Ocean::Geometry::GravityConstraintsT< T >::cameraGravityInWorld ( const QuaternionT< T > &  world_Q_camera, const size_t  cameraIndex = 0  ) const

inline

Returns the camera gravity vector (which is known for a camera pose), defined in the world coordinate system.

Parameters

world_Q_camera	The rotation rotating camera to world, with default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the gravity vector is requested, with range [0, numberCameras() - 1]

Returns

The known gravity vector for a specified camera, defined in the world coordinate system

conditionalPointer()

template<typename T >

const GravityConstraintsT< T > * Ocean::Geometry::GravityConstraintsT< T >::conditionalPointer ( const bool  pointerIfValid = true ) const

inline

Returns the pointer to this gravity constraints object if it is valid.

Parameters

pointerIfValid

True, to return a pointer to this object if this object is valid; False, to always return a null pointer

Returns

The pointer to this object if the object holds valid constraints and if 'pointerIfValid == true', nullptr if this object does not hold valid constraints or if 'pointerIfValid == false'

flippedCamera_R_world()

template<typename T >

QuaternionT< T > Ocean::Geometry::GravityConstraintsT< T >::flippedCamera_R_world ( const size_t  cameraIndex ) const

inline

Returns one possible rotation between world and the flipped camera.

The resulting rotation contains a remaining degree of freedom as the rotation is only based on the corresponding gravity vectors.
Any rotation around the gravity vector would be a valid rotation as well.

Parameters

cameraIndex

The index of the camera for which the rotation will be returned, with range [0, numberCameras() - 1]

Returns

The requested rotation, with default flipped camera pointing towards the positive z-axis and y-axis pointing downwards

isCameraAlignedWithGravity() [1/4]

template<typename T >

bool Ocean::Geometry::GravityConstraintsT< T >::isCameraAlignedWithGravity ( const HomogenousMatrixT4< T > &  world_T_camera, const size_t  cameraIndex, const T  maxAngle  ) const

inline

Returns whether a camera pose is aligned with the gravity constraints using a custom angle threshold.

Parameters

world_T_camera	The transformation transforming camera to world, with a default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the alignment check will be performed, with range [0, numberCameras() - 1]
maxAngle	The maximal angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian, with range [0, PI/2)

Returns

True, if so

isCameraAlignedWithGravity() [2/4]

template<typename T >

bool Ocean::Geometry::GravityConstraintsT< T >::isCameraAlignedWithGravity ( const HomogenousMatrixT4< T > &  world_T_camera, const size_t  cameraIndex = 0  ) const

inline

Returns whether a camera pose is aligned with the gravity constraints using the specified angle threshold.

Parameters

world_T_camera	The transformation transforming camera to world, with a default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the alignment check will be performed, with range [0, numberCameras() - 1]

Returns

True, if so

isCameraAlignedWithGravity() [3/4]

template<typename T >

bool Ocean::Geometry::GravityConstraintsT< T >::isCameraAlignedWithGravity	(	const QuaternionT< T > &	world_Q_camera,
		const size_t	cameraIndex,
		const T	maxAngle
	)		const

Returns whether a camera pose is aligned with the gravity constraints using a custom angle threshold.

Parameters

world_Q_camera	The rotation rotating camera to world, with a default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the alignment check will be performed, with range [0, numberCameras() - 1]
maxAngle	The maximal angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian, with range [0, PI/2)

Returns

True, if so

isCameraAlignedWithGravity() [4/4]

template<typename T >

bool Ocean::Geometry::GravityConstraintsT< T >::isCameraAlignedWithGravity	(	const QuaternionT< T > &	world_Q_camera,
		const size_t	cameraIndex = 0
	)		const

Returns whether a camera pose is aligned with the gravity constraints using the specified angle threshold.

Parameters

world_Q_camera	The rotation rotating camera to world, with a default camera pointing towards the negative z-space and y-axis pointing upwards, must be valid
cameraIndex	The index of the camera for which the alignment check will be performed, with range [0, numberCameras() - 1]

Returns

True, if so

isCameraAlignedWithGravityIF() [1/4]

template<typename T >

bool Ocean::Geometry::GravityConstraintsT< T >::isCameraAlignedWithGravityIF ( const HomogenousMatrixT4< T > &  flippedCamera_T_world, const size_t  cameraIndex, const T  maxAngle  ) const

inline

Returns whether a provided flipped and inverted camera pose is aligned with the gravity constraints using a custom angle threshold.

Parameters

flippedCamera_T_world	The transformation transforming world to flipped camera, with a default flipped camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
cameraIndex	The index of the camera for which the alignment check will be performed, with range [0, numberCameras() - 1]
maxAngle	The maximal angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian, with range [0, PI/2)

Returns

True, if so

isCameraAlignedWithGravityIF() [2/4]

template<typename T >

bool Ocean::Geometry::GravityConstraintsT< T >::isCameraAlignedWithGravityIF ( const HomogenousMatrixT4< T > &  flippedCamera_T_world, const size_t  cameraIndex = 0  ) const

inline

Returns whether a provided flipped and inverted camera pose is aligned with the gravity constraints using the specified angle threshold.

Parameters

flippedCamera_T_world	The transformation transforming world to flipped camera, with a default flipped camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
cameraIndex	The index of the camera for which the alignment check will be performed, with range [0, numberCameras() - 1]
maxAngle	The maximal angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian, with range [0, PI/2)

Returns

True, if so

isCameraAlignedWithGravityIF() [3/4]

template<typename T >

bool Ocean::Geometry::GravityConstraintsT< T >::isCameraAlignedWithGravityIF	(	const QuaternionT< T > &	flippedCamera_Q_world,
		const size_t	cameraIndex,
		const T	maxAngle
	)		const

Returns whether a provided flipped and inverted camera pose is aligned with the gravity constraints using a custom angle threshold.

Parameters

flippedCamera_Q_world	The rotation rotating world to flipped camera, with a default flipped camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
cameraIndex	The index of the camera for which the alignment check will be performed, with range [0, numberCameras() - 1]
maxAngle	The maximal angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian, with range [0, PI/2)

Returns

True, if so

isCameraAlignedWithGravityIF() [4/4]

template<typename T >

bool Ocean::Geometry::GravityConstraintsT< T >::isCameraAlignedWithGravityIF	(	const QuaternionT< T > &	flippedCamera_Q_world,
		const size_t	cameraIndex = 0
	)		const

Returns whether a provided flipped and inverted camera pose is aligned with the gravity constraints using the specified angle threshold.

Parameters

flippedCamera_Q_world	The rotation rotating world to flipped camera, with a default flipped camera pointing towards the positive z-space and y-axis pointing downwards, must be valid
cameraIndex	The index of the camera for which the alignment check will be performed, with range [0, numberCameras() - 1]
maxAngle	The maximal angle between the world gravity vector and the camera gravity vector (after converting into the same coordinate system), in radian, with range [0, PI/2)

Returns

True, if so

isValid()

template<typename T >

bool Ocean::Geometry::GravityConstraintsT< T >::isValid ( ) const

inline

Returns whether this constraint object holds valid parameters.

Returns

True, if so

maximalAngle()

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::maximalAngle ( ) const

inline

Returns the maximal angle between world and camera gravity vectors (when converted into the same coordinate system), can be used e.g., when the camera pose is determined e.g., with RANSAC or a PnP algorithm.

Returns

The object's maximal angle, in radian, with range [0, PI/2)

minimalAngleCos()

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::minimalAngleCos ( ) const

inline

Returns the cosine value of maximalAngle().

Returns

The object's minimal angle cosine, with range [0, 1]

numberCameras()

template<typename T >

size_t Ocean::Geometry::GravityConstraintsT< T >::numberCameras ( ) const

inline

Returns the number of cameras for which gravity constraints are defined.

Returns

The number of cameras, with range [1, infinity)

weightFactor()

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::weightFactor ( ) const

inline

Returns the weight factor to be used during a non-linear optimization of a camera pose; 0 to skip any gravity correction, 1 to apply a normal/default gravity correction, larger values to apply a stronger gravity correction.

Returns

The object's weight factor, with range [0, infinity)

world_R_camera()

template<typename T >

QuaternionT< T > Ocean::Geometry::GravityConstraintsT< T >::world_R_camera ( const size_t  cameraIndex ) const

inline

Returns one possible rotation between camera and world.

The resulting rotation contains a remaining degree of freedom as the rotation is only based on the corresponding gravity vectors.
Any rotation around the gravity vector would be a valid rotation as well.

Parameters

cameraIndex

The index of the camera for which the rotation will be returned, with range [0, numberCameras() - 1]

Returns

The requested rotation, with default camera pointing towards the negative z-space and y-axis pointing upwards

worldGravityInFlippedCameraIF() [1/2]

template<typename T >

VectorT3< T > Ocean::Geometry::GravityConstraintsT< T >::worldGravityInFlippedCameraIF ( const HomogenousMatrixT4< T > &  flippedCamera_T_world ) const

inline

Returns the world gravity vector defined in the flipped camera coordinate system, with default flipped camera pointing towards the positive z-axis and y-axis pointing downwards.

Parameters

flippedCamera_T_world

The transformation transforming world to flipped camera, must be valid

Returns

The world's gravity vector in flipped camera

worldGravityInFlippedCameraIF() [2/2]

template<typename T >

VectorT3< T > Ocean::Geometry::GravityConstraintsT< T >::worldGravityInFlippedCameraIF ( const QuaternionT< T > &  flippedCamera_Q_world ) const

inline

Returns the world gravity vector defined in the flipped camera coordinate system, with default flipped camera pointing towards the positive z-axis and y-axis pointing downwards.

Parameters

flippedCamera_Q_world

The rotation rotating world to flipped camera, must be valid

Returns

The world's gravity vector in flipped camera

worldGravityInWorld()

template<typename T >

const VectorT3< T > & Ocean::Geometry::GravityConstraintsT< T >::worldGravityInWorld ( ) const

inline

Returns the world gravity vector defined in the world coordinate system.

Returns

The world's gravity vector in world

Field Documentation

cameraGravityInCameras_

template<typename T >

Gravities Ocean::Geometry::GravityConstraintsT< T >::cameraGravityInCameras_

protected

The gravity vectors which are known for one or more camera poses, defined in the camera coordinate system, with default camera pointing towards the negative z-space and y-axis pointing upwards.

maximalAngle_

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::maximalAngle_ = T(-1)

protected

The maximal angle between world and camera gravity vectors (when converted into the same coordinate system), can be used e.g., when the camera pose is determined e.g., with RANSAC or a PnP algorithm, in radian, with range [0, PI/2).

minimalAngleCos_

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::minimalAngleCos_ = T(-1)

protected

The cosine value of maximalAngle(), with range [0, 1].

weightFactor_

template<typename T >

T Ocean::Geometry::GravityConstraintsT< T >::weightFactor_ = T(-1)

protected

The weight factor to be used during a non-linear optimization of a camera pose; 0 to skip any gravity correction, 1 to apply a full gravity correction; with range [0, 1).

worldGravityInWorld_

template<typename T >

VectorT3<T> Ocean::Geometry::GravityConstraintsT< T >::worldGravityInWorld_ = VectorT3<T>(0, -1, 0)

protected

The world gravity vector defined in the world coordinate system, mainly defining how the world coordinate system is oriented/aligned wrt gravity.

---

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

• GravityConstraints.h