This class implements the basic data of an planar grid. More...

Public Member Functions
	Grid ()
	Creates a new invalid grid element. More...

	Grid (const HomogenousMatrix4 &plane2worldTransformation, const HomogenousMatrix4 &virtualGrid2planeTransformation=HomogenousMatrix4(true), const Vector2 &lowerCorner=Vector2(-0.5, -0.5), const Vector2 &upperCorner=Vector2(0.5, 0.5))
	Creates a new Grid by a plane2world transformation. More...

	Grid (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Vectors2 &imagePoints, const HomogenousMatrix4 &plane2worldTransformation, const HomogenousMatrix4 &virtualGrid2planeTransformation=HomogenousMatrix4(true), const bool clipBoundingBox=false)
	Creates a new Grid by a plane2world transformation and four image points defining a rectangle. More...

	Grid (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Vectors2 &imagePoints, const Vector2 gridCoordinates=nullptr, const HomogenousMatrix4 previousPlane2worldTransformation=nullptr, const bool clipBoundingBox=false)
	Creates a new Grid by four given image points using vanishing projection. More...

	Grid (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const HomogenousMatrix4 &plane2worldTransformation, const Vectors2 &imagePoints, const bool clipBoundingBox=false)
	Creates a new Grid by a given transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system. More...

const HomogenousMatrix4 &	plane2worldTransformation () const
	Returns the transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system. More...

const HomogenousMatrix4 &	grid2planeTransformation () const
	Returns the transformation that transforms points defined in a coordinate system of the grid into points defined in the plane coordinate system. More...

const HomogenousMatrix4 &	virtualGrid2planeTransformation () const
	Returns the transformation that transform points defined in a coordinate system of the virtual grid into points defined in the plane coordinate system. More...

HomogenousMatrix4	virtualPlane2worldTransformation () const
	Returns a transformation that transforms points defined in a coordinate system of the virtual plane into points defined in the world coordinate system. More...

HomogenousMatrix4	grid2worldTransformation () const
	Returns the transformation that transform points defined in a coordinate system of the grid into points defined in the world coordinate system. More...

HomogenousMatrix4	virtualGrid2worldTransformation () const
	Returns the transformation that transform points defined in a coordinate system of the virtual grid into points defined in the world coordinate system. More...

const Vector2 &	lowerGridCorner () const
	Returns the lower grid corner defined in the grid coordinate system of the visualization bounding box of the grid. More...

const Vector2 &	upperGridCorner () const
	Returns the upper grid corner defined in the grid coordinate system of the visualization bounding box of the grid. More...

void	setPlane2worldTransformation (const HomogenousMatrix4 &newTransformation)
	Sets the transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system. More...

void	setGrid2planeTransformation (const HomogenousMatrix4 &newTransformation)
	Sets the transformation that transforms points defined in a coordinate system of the grid into points defined in the plane coordinate system. More...

bool	setVirtualGrid2planeTransformation (const HomogenousMatrix4 &newTransformation)
	Sets the transformation that transform points defined in a coordinate system of the virtual grid into points defined in the plane coordinate system. More...

void	setLowerGridCorner (const Vector2 &newCorner)
	Sets the lower grid corner defined in the plane coordinate system of the visualization bounding box of the grid. More...

void	setUpperGridCorner (const Vector2 &newCorner)
	Sets the upper grid corner defined in the plane coordinate system of the visualization bounding box of the grid. More...

bool	isValid () const
	Returns whether the grid is valid. More...

void	setInvalid ()
	Sets the grid to invalid. More...

bool	areVirtualAndPhysicalGridIdentical () const
	Returns whether the physical and virtual grid transformations are identical. More...

void	clipByImageBoundingBox (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Scalar borderSizeFactor=Scalar(2.0), const Vectors2 &insideGridCoordinates=Vectors2())
	Clips the grid bounding box and adjusts the lower and upper grid corner by an image bounding box. More...

bool	image2world (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Vector2 &imageCoordinate, Vector3 &worldCoordinate) const
	Convert an point defined in a coordinate system of the camera image into an point on the plane defined in the world coordinate system. More...

bool	image2plane (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Vector2 &imageCoordinate, Vector3 &planeCoordinate) const
	Convert an point defined in a coordinate system of the camera image into an point on the plane defined in the plane coordinate system. More...

template<bool tVirtual>
bool	image2grid (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Vector2 &imageCoordinate, Vector2 &gridCoordinate) const
	Convert an point defined in a coordinate system of the camera image into an point on the plane defined in the grid coordinate system. More...

Vector2	world2image (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Vector3 &worldCoordinate) const
	Convert an point on the plane defined in a coordinate system of the world into an point defined in the camera image coordinate system. More...

Vector2	world2imageIF (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &poseIF, const Vector3 &worldCoordinate) const
	Convert an point on the plane defined in a coordinate system of the world into an point defined in the camera image coordinate system. More...

Vector3	world2plane (const Vector3 &worldCoordinate) const
	Convert an point on the plane defined in a coordinate system of the world into an point defined in the plane coordinate system. More...

template<bool tVirtual>
Vector2	world2grid (const Vector3 &worldCoordinate) const
	Convert an point on the plane defined in a coordinate system of the world into an point defined in the grid coordinate system. More...

Vector2	plane2image (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Vector3 &planeCoordinate) const
	Convert an point on the plane defined in a coordinate system of the plane into an point defined in the camera image coordinate system. More...

Vector2	plane2imageIF (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &poseIF, const Vector3 &planeCoordinate) const
	Convert an point on the plane defined in a coordinate system of the plane into an point defined in the camera image coordinate system. More...

Vector3	plane2world (const Vector3 &planeCoordinate) const
	Convert an point on the plane defined in a coordinate system of the plane into an point defined in the world coordinate system. More...

template<bool tVirtual>
Vector2	plane2grid (const Vector3 &planeCoordinate) const
	Convert an point on the plane defined in a coordinate system of the plane into an point defined in the grid coordinate system. More...

template<bool tVirtual>
Vector2	grid2image (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Vector2 &gridCoordinate) const
	Convert an point on the plane defined in a coordinate system of the grid into an point defined in the camera image coordinate system. More...

template<bool tVirtual>
Vector2	grid2imageIF (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &poseIF, const Vector2 &gridCoordinate) const
	Convert an point on the plane defined in a coordinate system of the grid into an point defined in the camera image coordinate system. More...

template<bool tVirtual>
Vector3	grid2world (const Vector2 &gridCoordinate) const
	Convert an point on the plane defined in a coordinate system of the grid into an point defined in the world coordinate system. More...

template<bool tVirtual>
Vector3	grid2plane (const Vector2 &gridCoordinate) const
	Convert an point on the plane defined in a coordinate system of the grid into an point defined in the plane coordinate system. More...

bool	operator== (const Grid &grid) const
	Returns whether two grids are identical. More...

bool	operator!= (const Grid &grid) const
	Returns whether two grids are not identical. More...

Static Public Member Functions
static bool	determineVirtualGridTransformationsByFourImagePoints (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Vector2 imagePoints, const Vector2 gridCoordinates=nullptr, const HomogenousMatrix4 previousPlane2worldTransformation=nullptr, HomogenousMatrix4 plane2worldTransformation=nullptr, HomogenousMatrix4 *virtualGrid2planeTransformation=nullptr)
	Determine the transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system. More...

static bool	determineVirtualGridTransformationByPlane2WorldTransformation (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const Vectors2 &imagePoints, const HomogenousMatrix4 &previousPlane2worldTransformation, HomogenousMatrix4 &plane2worldTransformation, HomogenousMatrix4 &virtualGrid2planeTransformation)
	Determines a virtualGrid2plane transformation by a plane2world transformation and four given image points. More...

static Vector2	grid2nearestNode (const Vector2 &gridCoordinate)
	Determine the nearest integer grid node from a given grid coordinate. More...

static bool	hasTransformationShearComponent (const HomogenousMatrix4 &transformation)
	Returns whether a given transformation has shear component in x/y direction. More...

static bool	determineTransformationWithoutShearComponent (const HomogenousMatrix4 &transformationWithShearComponent, HomogenousMatrix4 &resultTransformation)
	Determines a transformation without a shear component from a given transformation with shear component. More...

static bool	isInFrontOfCamera (const HomogenousMatrix4 &pose, const Vector3 &worldCoordinate)
	Returns whether a given world coordinate is in front of the camera. More...

static bool	isInFrontOfCameraIF (const HomogenousMatrix4 &poseIF, const Vector3 &worldCoordinate)
	Returns whether a given world coordinate is in front of the camera. More...

Protected Member Functions
void	adjustGridCornersInXDirectionByImageLines (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const FiniteLine2 &gridBoundingBoxEdgeImageCoordinate, const FiniteLine2 &imageBoundingBoxEdgeImageCoordinate)
	Adjust the lower and upper grid corner in x direction by a given finite image line that is a projected grid edge in x direction and a finite image line of an image bounding box edge that clips the grid. More...

void	adjustGridCornersInYDirectionByImageLines (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &pose, const FiniteLine2 &gridBoundingBoxEdgeImageCoordinate, const FiniteLine2 &imageBoundingBoxEdgeImageCoordinate)
	Adjust the lower and upper grid corner in y direction by a given finite image line that is a projected grid edge in y direction and a finite image line of an image bounding box edge that clips the grid. More...

Static Protected Member Functions
static bool	clipWorldLineInFrontOfCameraBinarySearchIF (const HomogenousMatrix4 &poseIF, const FiniteLine3 &lineToClip, FiniteLine3 &resultingLine)
	Clips a finite line in world coordinates, that the start and end point lie in front of the camera. More...

Protected Attributes
HomogenousMatrix4	worldTplane
	Transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system. More...

HomogenousMatrix4	planeTgrid
	Transformation that transforms points defined in a coordinate system of the grid into points defined in the plane coordinate system. More...

HomogenousMatrix4	planeTvirtualGrid
	Transformation that transform points defined in a coordinate system of the virtual grid into points defined in the plane coordinate system. More...

Vector2	gridLowerCorner
	Lower grid corner of the visualization bounding box of the grid defined in the grid coordinate system. More...

Vector2	gridUpperCorner
	Upper grid corner of the visualization bounding box of the grid defined in the grid coordinate system . More...

Detailed Description

This class implements the basic data of an planar grid.

There are 3 coordinate systems: (1) world coordinates:

describe points in the world system (2) plane coordinates:
describe points in the plane of the grid
the z coordinate is zero, if the point lies directly in the plane (3) grid coordinates:
describe points in the grid refer to the plane
the grid center must not be identical with the plane center

the following sketch shows a top-view of the grid:

     y
     ^
      |   o - o - o - o - o
      |   |   |   |   |   |
      |   o - o - o - p - o
      |   |   |   |   |   |
      |   o - o - c - o - o
      |   |   |   |   |   |
      |   o - o - o - o - o
      |   |   |   |   |   |
      |   o - o - o - o - o
      |
     z---------------------> x

the z coordinate is always zero, so in following the grid coordinates are represent as a Vector2

This class holds 3 transformations: (1) plane2world transformation:

transforms points defined in a coordinate system of the plane into points defined in the world coordinate system
all axes must be perpendicular to each other
the z axis always describe the normal of the plane (2) grid2plane transformation:
transforms points defined in a coordinate system of the grid into points defined in the plane coordinate system
all axes must be perpendicular to each other
the z axis is always (0, 0, 1) (3) virtualGrid2plane transformation
transforms points defined in a coordinate system of the virtual grid into points defined in the plane coordinate system
the z axis is always (0, 0, 1)
the x and y axes must be perpendicular to the z axis
the x axis must not be perpendicular to the y axis to skew the grid

The grid holds an visualization bounding box defined in plane coordinates.

This class implements convert functions to convert point from one coordinate system to an other.

Constructor & Destructor Documentation

◆ Grid() [1/5]

Ocean::Geometry::Grid::Grid ( )

inline

Creates a new invalid grid element.

◆ Grid() [2/5]

Ocean::Geometry::Grid::Grid	(	const HomogenousMatrix4 &	plane2worldTransformation,
		const HomogenousMatrix4 &	virtualGrid2planeTransformation = `HomogenousMatrix4(true)`,
		const Vector2 &	lowerCorner = `Vector2(-0.5, -0.5)`,
		const Vector2 &	upperCorner = `Vector2(0.5, 0.5)`
	)

inlineexplicit

Creates a new Grid by a plane2world transformation.

Whether the virtualGrid2plane transformation is set, the grid2plane transformation is set to the same matrix. If the grid2plane transformation should be set, the virtualGrid2plane transformation can be set to the appropriate matrix.

Parameters

plane2worldTransformation	Transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system
virtualGrid2planeTransformation	Optional transformation that transforms points defined in a coordinate system of the virtual grid into points defined in the plane coordinate system
lowerCorner	Optional lower corner of the grid bounding box for visualization in plane coordinates
upperCorner	Optional upper corner of the grid bounding box for visualization in plane coordinates

◆ Grid() [3/5]

Ocean::Geometry::Grid::Grid	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Vectors2 &	imagePoints,
		const HomogenousMatrix4 &	plane2worldTransformation,
		const HomogenousMatrix4 &	virtualGrid2planeTransformation = `HomogenousMatrix4(true)`,
		const bool	clipBoundingBox = `false`
	)

Creates a new Grid by a plane2world transformation and four image points defining a rectangle.

The bounding box is adjusted, so the rectangle plus a border lies inside. The border has a size of the half average length of two neighboring projected plane points. If the virtualGrid2plane transformation is set, the grid2plane transformation is set to the same matrix. If the grid2plane transformation should be set, the virtualGrid2plane transformation can be set to the appropriate matrix.

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
imagePoints	The image points to adjust the bounding box, size must be four
plane2worldTransformation	Transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system
virtualGrid2planeTransformation	Optional transformation that transforms points defined in a coordinate system of the virtual grid into points defined in the plane coordinate system
clipBoundingBox	Optional flag to clip the grid lower and upper grid corners by an image bounding box around the camera frame

◆ Grid() [4/5]

Ocean::Geometry::Grid::Grid	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Vectors2 &	imagePoints,
		const Vector2 *	gridCoordinates = `nullptr`,
		const HomogenousMatrix4 *	previousPlane2worldTransformation = `nullptr`,
		const bool	clipBoundingBox = `false`
	)

Creates a new Grid by four given image points using vanishing projection.

The four image points must define a convex polygon. If additionally four grid coordinates are given, the virtualGrid2plane transformation is set, too. The four grid coordinates must be given in the same order (clockwise or counter clockwise) like the four image points! The grid coordinates are only used for determine the shear of the virtualGrid2plane transformation, the lower and upper grid corners are not adjust! If no grid could be determined from the four image points, a invalid grid is create.

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
imagePoints	The four image points (must be in clockwise or counterclockwise order)
gridCoordinates	Optional four grid coordinates (must be in clockwise or counterclockwise order)
previousPlane2worldTransformation	Optional Transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system to adapt the plane translation
clipBoundingBox	Optional flag to clip the grid lower and upper grid corners by an image bounding box around the camera frame

◆ Grid() [5/5]

Ocean::Geometry::Grid::Grid	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const HomogenousMatrix4 &	plane2worldTransformation,
		const Vectors2 &	imagePoints,
		const bool	clipBoundingBox = `false`
	)

Creates a new Grid by a given transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system.

The virtualGrid2plane transformation is adjusted by four given image points. The virtual grid is sheared that the four points define a rectangle on the virtual grid in the best case.

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
plane2worldTransformation	Transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system
imagePoints	The four image points (must be in clockwise or counterclockwise order)
clipBoundingBox	Optional flag to clip the grid lower and upper grid corners by an image bounding box around the camera frame

Member Function Documentation

◆ adjustGridCornersInXDirectionByImageLines()

void Ocean::Geometry::Grid::adjustGridCornersInXDirectionByImageLines	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const FiniteLine2 &	gridBoundingBoxEdgeImageCoordinate,
		const FiniteLine2 &	imageBoundingBoxEdgeImageCoordinate
	)

protected

Adjust the lower and upper grid corner in x direction by a given finite image line that is a projected grid edge in x direction and a finite image line of an image bounding box edge that clips the grid.

Beware: The grid edge must be have a orientation of (1, 0) in grid coordinates

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
gridBoundingBoxEdgeImageCoordinate	The finite image line of a grid edge in x direction
imageBoundingBoxEdgeImageCoordinate	The finite image line of image bounding box edge that clips the grid

◆ adjustGridCornersInYDirectionByImageLines()

void Ocean::Geometry::Grid::adjustGridCornersInYDirectionByImageLines	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const FiniteLine2 &	gridBoundingBoxEdgeImageCoordinate,
		const FiniteLine2 &	imageBoundingBoxEdgeImageCoordinate
	)

protected

Adjust the lower and upper grid corner in y direction by a given finite image line that is a projected grid edge in y direction and a finite image line of an image bounding box edge that clips the grid.

Beware: The grid edge must be have a orientation of (0, 1) in grid coordinates

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
gridBoundingBoxEdgeImageCoordinate	The finite image line of a grid edge in y direction
imageBoundingBoxEdgeImageCoordinate	The finite image line of image bounding box edge that clips the grid

◆ areVirtualAndPhysicalGridIdentical()

bool Ocean::Geometry::Grid::areVirtualAndPhysicalGridIdentical ( ) const

Returns whether the physical and virtual grid transformations are identical.

Returns: True, if so

◆ clipByImageBoundingBox()

void Ocean::Geometry::Grid::clipByImageBoundingBox	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Scalar	borderSizeFactor = `Scalar(2.0)`,
		const Vectors2 &	insideGridCoordinates = `Vectors2()`
	)

Clips the grid bounding box and adjusts the lower and upper grid corner by an image bounding box.

This bounding box is defined by a given camera, a pose and a border size factor. The image bounding box will have the following bounds: Left: -width * factor Right width + width * factor Top: -height * factor Bottom: height + height * factor

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
borderSizeFactor	the factor for the width and height for the border around the camera frame, Range [0, infinity)
insideGridCoordinates	Optional grid coordinates that must lie inside the new clipped grid

◆ clipWorldLineInFrontOfCameraBinarySearchIF()

static bool Ocean::Geometry::Grid::clipWorldLineInFrontOfCameraBinarySearchIF	(	const HomogenousMatrix4 &	poseIF,
		const FiniteLine3 &	lineToClip,
		FiniteLine3 &	resultingLine
	)

staticprotected

Clips a finite line in world coordinates, that the start and end point lie in front of the camera.

A binary search is determine the possible start and end point who are in front of the camera. If both points lie behind the camera, the line is not adjusted.

Parameters

poseIF	Inverted flipped pose to be applied
lineToClip	The finite line to clip
resultingLine	The resulting clipped line if succeeded

Returns: True, if succeeded

◆ determineTransformationWithoutShearComponent()

static bool Ocean::Geometry::Grid::determineTransformationWithoutShearComponent	(	const HomogenousMatrix4 &	transformationWithShearComponent,
		HomogenousMatrix4 &	resultTransformation
	)

static

Determines a transformation without a shear component from a given transformation with shear component.

The x and y axes of the given transformation with shear component must be orthogonal to the z axis. The resulting transformation has the same z axis and translation like the given transformation.

Parameters

transformationWithShearComponent	Transformation with shear component
resultTransformation	Resulting transformation without a shear component

Returns: True, if succeeded

◆ determineVirtualGridTransformationByPlane2WorldTransformation()

static bool Ocean::Geometry::Grid::determineVirtualGridTransformationByPlane2WorldTransformation	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Vectors2 &	imagePoints,
		const HomogenousMatrix4 &	previousPlane2worldTransformation,
		HomogenousMatrix4 &	plane2worldTransformation,
		HomogenousMatrix4 &	virtualGrid2planeTransformation
	)

static

Determines a virtualGrid2plane transformation by a plane2world transformation and four given image points.

Furthermore an adjusted plane2world transformation is determined which is the previous plane2world transformation rotated around the plane normal that the bisection of the x and y axis of the virtual and non virtual grid transformation have the same orientation.

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
imagePoints	The four image points to determine the transformations (must be in clockwise or counterclockwise order)
previousPlane2worldTransformation	Previous plane2world transformation
plane2worldTransformation	The new plane2world transformation that is a rotation of the previous plane2world transformation around the plane normal
virtualGrid2planeTransformation	The determined virtualGrid2plane transformation

Returns: True, if succeeded

◆ determineVirtualGridTransformationsByFourImagePoints()

static bool Ocean::Geometry::Grid::determineVirtualGridTransformationsByFourImagePoints	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Vector2 *	imagePoints,
		const Vector2 *	gridCoordinates = `nullptr`,
		const HomogenousMatrix4 *	previousPlane2worldTransformation = `nullptr`,
		HomogenousMatrix4 *	plane2worldTransformation = `nullptr`,
		HomogenousMatrix4 *	virtualGrid2planeTransformation = `nullptr`
	)

static

Determine the transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system.

If additionally four grid coordinates are given, the transformation that transforms points defined in a coordinate system of the grid/virtual grid into points defined in the plane coordinate system by four given image points are determined, too. The four grid coordinates must be given in the same order (clockwise or counter clockwise) like the four image points! If no grid coordinates are given, the resulting virtualGrid2plane transformation equals to the grid2plane transformation. If a previous plane2world transformation is given, the new one will be oriented at the same translation, otherwise the origin of the new plane2world transformation will be set to a distance of 1 from the camera.

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
imagePoints	The four image points to determine the transformations (must be in clockwise or counterclockwise order)
gridCoordinates	Optional four grid coordinates (must be in clockwise or counterclockwise order)
previousPlane2worldTransformation	Optional previous plane2world transformation
plane2worldTransformation	Optional resulting plane2world transformation
virtualGrid2planeTransformation	Optional resulting virtualGrid2plane transformation

Returns: True, if the Transformations could be determined

◆ grid2image()

template<bool tVirtual>

Vector2 Ocean::Geometry::Grid::grid2image	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Vector2 &	gridCoordinate
	)		const

inline

Convert an point on the plane defined in a coordinate system of the grid into an point defined in the camera image coordinate system.

The grid must be valid!

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
gridCoordinate	Grid coordinate which will be converted

Template Parameters

tVirtual Indicate whether the virtual grid is used

Returns: resulting image coordinate

◆ grid2imageIF()

template<bool tVirtual>

Vector2 Ocean::Geometry::Grid::grid2imageIF	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	poseIF,
		const Vector2 &	gridCoordinate
	)		const

inline

Convert an point on the plane defined in a coordinate system of the grid into an point defined in the camera image coordinate system.

The grid must be valid!

Parameters

pinholeCamera	The pinhole camera profile to be applied
poseIF	Inverted flipped pose to be applied
gridCoordinate	Grid coordinate which will be converted

Template Parameters

tVirtual Indicate whether the virtual grid is used

Returns: resulting image coordinate

◆ grid2nearestNode()

Vector2 Ocean::Geometry::Grid::grid2nearestNode ( const Vector2 & gridCoordinate )

inlinestatic

Determine the nearest integer grid node from a given grid coordinate.

An x or y value from >= 2.5 to < 3.5 is rounded to 3.0.

Parameters

gridCoordinate Grid coordinate to get the nearest node from

Returns: Nearest node in grid coordinates

◆ grid2plane()

template<bool tVirtual>

Vector3 Ocean::Geometry::Grid::grid2plane ( const Vector2 & gridCoordinate ) const

inline

Convert an point on the plane defined in a coordinate system of the grid into an point defined in the plane coordinate system.

The grid must be valid!

Parameters

gridCoordinate Grid coordinate which will be converted

Template Parameters

tVirtual Indicate whether the virtual grid is used

Returns: resulting plane coordinate

◆ grid2planeTransformation()

const HomogenousMatrix4 & Ocean::Geometry::Grid::grid2planeTransformation ( ) const

inline

Returns the transformation that transforms points defined in a coordinate system of the grid into points defined in the plane coordinate system.

Returns: The grid transformation.

◆ grid2world()

template<bool tVirtual>

Vector3 Ocean::Geometry::Grid::grid2world ( const Vector2 & gridCoordinate ) const

inline

Convert an point on the plane defined in a coordinate system of the grid into an point defined in the world coordinate system.

The grid must be valid!

Parameters

gridCoordinate Grid coordinate which will be converted

Template Parameters

tVirtual Indicate whether the virtual grid is used

Returns: resulting world coordinate

◆ grid2worldTransformation()

HomogenousMatrix4 Ocean::Geometry::Grid::grid2worldTransformation ( ) const

inline

Returns the transformation that transform points defined in a coordinate system of the grid into points defined in the world coordinate system.

Returns: The grid transformation

◆ hasTransformationShearComponent()

bool Ocean::Geometry::Grid::hasTransformationShearComponent ( const HomogenousMatrix4 & transformation )

inlinestatic

Returns whether a given transformation has shear component in x/y direction.

The x and y axes of the given transformation must be orthogonal to the z axis.

Parameters

transformation The transformation to check

Returns: True, if so

◆ image2grid()

template<bool tVirtual>

bool Ocean::Geometry::Grid::image2grid	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Vector2 &	imageCoordinate,
		Vector2 &	gridCoordinate
	)		const

Convert an point defined in a coordinate system of the camera image into an point on the plane defined in the grid coordinate system.

The grid must be valid!

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
imageCoordinate	Image coordinate which will be converted
gridCoordinate	resulting grid coordinate, if the conversion was successful

Template Parameters

tVirtual Indicate whether the virtual grid is used

Returns: True, if the conversion was successful

◆ image2plane()

bool Ocean::Geometry::Grid::image2plane	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Vector2 &	imageCoordinate,
		Vector3 &	planeCoordinate
	)		const

Convert an point defined in a coordinate system of the camera image into an point on the plane defined in the plane coordinate system.

The grid must be valid!

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
imageCoordinate	Image coordinate which will be converted
planeCoordinate	resulting plane coordinate, if the conversion was successful

Returns: True, if the conversion was successful

◆ image2world()

bool Ocean::Geometry::Grid::image2world	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Vector2 &	imageCoordinate,
		Vector3 &	worldCoordinate
	)		const

Convert an point defined in a coordinate system of the camera image into an point on the plane defined in the world coordinate system.

The grid must be valid!

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
imageCoordinate	Image coordinate which will be converted
worldCoordinate	resulting world coordinate, if the conversion was successful

Returns: True, if the conversion was successful

◆ isInFrontOfCamera()

bool Ocean::Geometry::Grid::isInFrontOfCamera	(	const HomogenousMatrix4 &	pose,
		const Vector3 &	worldCoordinate
	)

inlinestatic

Returns whether a given world coordinate is in front of the camera.

Parameters

pose	Current camera pose
worldCoordinate	World coordinate to be checked

Returns: True, if so

◆ isInFrontOfCameraIF()

bool Ocean::Geometry::Grid::isInFrontOfCameraIF	(	const HomogenousMatrix4 &	poseIF,
		const Vector3 &	worldCoordinate
	)

inlinestatic

Returns whether a given world coordinate is in front of the camera.

Parameters

poseIF	Current inverted flipped camera pose
worldCoordinate	World coordinate to be checked

Returns: True, if so

◆ isValid()

bool Ocean::Geometry::Grid::isValid ( ) const

Returns whether the grid is valid.

The grid is valid, whether the lower grid corner is smaller than the upper grid corner, the 3 transformation are valid matrices and: the x, y and z axis of the plane2world and grid2plane transformation are orthogonal to each other and the x and y axis of the virtualGrid2plane transformation are orthogonal to the z axis.

Returns: True, if so

◆ lowerGridCorner()

const Vector2 & Ocean::Geometry::Grid::lowerGridCorner ( ) const

inline

Returns the lower grid corner defined in the grid coordinate system of the visualization bounding box of the grid.

Returns: lower grid corner

◆ operator!=()

bool Ocean::Geometry::Grid::operator!= ( const Grid & grid ) const

inline

Returns whether two grids are not identical.

Parameters

grid	Right grid

Returns: True, if so

◆ operator==()

bool Ocean::Geometry::Grid::operator== ( const Grid & grid ) const

inline

Returns whether two grids are identical.

Parameters

grid	Right grid

Returns: True, if so

◆ plane2grid()

template<bool tVirtual>

Vector2 Ocean::Geometry::Grid::plane2grid ( const Vector3 & planeCoordinate ) const

inline

Convert an point on the plane defined in a coordinate system of the plane into an point defined in the grid coordinate system.

The grid must be valid!

Parameters

planeCoordinate Plane coordinate which will be converted

Template Parameters

tVirtual Indicate whether the virtual grid is used

Returns: resulting grid coordinate

◆ plane2image()

Vector2 Ocean::Geometry::Grid::plane2image	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Vector3 &	planeCoordinate
	)		const

inline

Convert an point on the plane defined in a coordinate system of the plane into an point defined in the camera image coordinate system.

The grid must be valid!

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
planeCoordinate	Plane coordinate which will be converted

Returns: resulting image coordinate

◆ plane2imageIF()

Vector2 Ocean::Geometry::Grid::plane2imageIF	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	poseIF,
		const Vector3 &	planeCoordinate
	)		const

inline

Convert an point on the plane defined in a coordinate system of the plane into an point defined in the camera image coordinate system.

The grid must be valid!

Parameters

pinholeCamera	The pinhole camera profile to be applied
poseIF	inverted flipped pose to be applied
planeCoordinate	Plane coordinate which will be converted

Returns: resulting image coordinate

◆ plane2world()

Vector3 Ocean::Geometry::Grid::plane2world ( const Vector3 & planeCoordinate ) const

inline

Convert an point on the plane defined in a coordinate system of the plane into an point defined in the world coordinate system.

The grid must be valid!

Parameters

planeCoordinate Plane coordinate which will be converted

Returns: resulting world coordinate

◆ plane2worldTransformation()

const HomogenousMatrix4 & Ocean::Geometry::Grid::plane2worldTransformation ( ) const

inline

Returns the transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system.

Returns: The plane transformation

◆ setGrid2planeTransformation()

void Ocean::Geometry::Grid::setGrid2planeTransformation ( const HomogenousMatrix4 & newTransformation )

inline

Sets the transformation that transforms points defined in a coordinate system of the grid into points defined in the plane coordinate system.

The transformation that transforms points defined in a coordinate system of the virtual grid into points defined in the plane coordinate system is also set to the same matrix.

Parameters

newTransformation New transformation to set

◆ setInvalid()

void Ocean::Geometry::Grid::setInvalid ( )

Sets the grid to invalid.

All transformations will be set to invalid transformations. The upper grid corner will be set higher as the lower grid corner.

◆ setLowerGridCorner()

void Ocean::Geometry::Grid::setLowerGridCorner ( const Vector2 & newCorner )

inline

Sets the lower grid corner defined in the plane coordinate system of the visualization bounding box of the grid.

If the lower grid corner is set to a value higher than the upper corner, the grid will be invalid.

Parameters

newCorner New lower grid corner

◆ setPlane2worldTransformation()

void Ocean::Geometry::Grid::setPlane2worldTransformation ( const HomogenousMatrix4 & newTransformation )

inline

Sets the transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system.

Parameters

newTransformation New transformation to set

◆ setUpperGridCorner()

void Ocean::Geometry::Grid::setUpperGridCorner ( const Vector2 & newCorner )

inline

Sets the upper grid corner defined in the plane coordinate system of the visualization bounding box of the grid.

If the upper grid corner is set to a value smaller than the lower corner, the grid will be invalid.

Parameters

newCorner New upper grid corner

◆ setVirtualGrid2planeTransformation()

bool Ocean::Geometry::Grid::setVirtualGrid2planeTransformation ( const HomogenousMatrix4 & newTransformation )

Sets the transformation that transform points defined in a coordinate system of the virtual grid into points defined in the plane coordinate system.

The transformation that transforms points defined in a coordinate system of the grid into points defined in the plane coordinate system is also set: If the given matrix is not valid, the grid2plane transformation will also be invalid. If the given matrix is valid, the grid2plane transformation will be set without the shear of the virtual transformation and a scale which is an average of the x and y scale.

Parameters

newTransformation New transformation to set

Returns: True, if succeeded

◆ upperGridCorner()

const Vector2 & Ocean::Geometry::Grid::upperGridCorner ( ) const

inline

Returns the upper grid corner defined in the grid coordinate system of the visualization bounding box of the grid.

Returns: upper grid corner

◆ virtualGrid2planeTransformation()

const HomogenousMatrix4 & Ocean::Geometry::Grid::virtualGrid2planeTransformation ( ) const

inline

Returns the transformation that transform points defined in a coordinate system of the virtual grid into points defined in the plane coordinate system.

Returns: The virtual grid transformation

◆ virtualGrid2worldTransformation()

HomogenousMatrix4 Ocean::Geometry::Grid::virtualGrid2worldTransformation ( ) const

inline

Returns the transformation that transform points defined in a coordinate system of the virtual grid into points defined in the world coordinate system.

Returns: The virtual grid transformation

◆ virtualPlane2worldTransformation()

HomogenousMatrix4 Ocean::Geometry::Grid::virtualPlane2worldTransformation ( ) const

Returns a transformation that transforms points defined in a coordinate system of the virtual plane into points defined in the world coordinate system.

The virtual plane has the orientation scale and depth of the normal plane while an optional shear component is extracted from the virtual grid if the virtual grid has a shear component.

Returns: The virtual plane transformation

◆ world2grid()

template<bool tVirtual>

Vector2 Ocean::Geometry::Grid::world2grid ( const Vector3 & worldCoordinate ) const

inline

Convert an point on the plane defined in a coordinate system of the world into an point defined in the grid coordinate system.

The grid must be valid!

Parameters

worldCoordinate World coordinate which will be converted

Template Parameters

tVirtual Indicate whether the virtual grid is used

Returns: resulting grid coordinate

◆ world2image()

Vector2 Ocean::Geometry::Grid::world2image	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	pose,
		const Vector3 &	worldCoordinate
	)		const

inline

Convert an point on the plane defined in a coordinate system of the world into an point defined in the camera image coordinate system.

The grid must be valid!

Parameters

pinholeCamera	The pinhole camera profile to be applied
pose	The pose to be applied
worldCoordinate	World coordinate which will be converted

Returns: resulting image coordinate

◆ world2imageIF()

Vector2 Ocean::Geometry::Grid::world2imageIF	(	const PinholeCamera &	pinholeCamera,
		const HomogenousMatrix4 &	poseIF,
		const Vector3 &	worldCoordinate
	)		const

inline

Convert an point on the plane defined in a coordinate system of the world into an point defined in the camera image coordinate system.

The grid must be valid!

Parameters

pinholeCamera	The pinhole camera profile to be applied
poseIF	Inverted flipped pose to be applied
worldCoordinate	World coordinate which will be converted

Returns: resulting image coordinate

◆ world2plane()

Vector3 Ocean::Geometry::Grid::world2plane ( const Vector3 & worldCoordinate ) const

inline

Convert an point on the plane defined in a coordinate system of the world into an point defined in the plane coordinate system.

The grid must be valid!

Parameters

worldCoordinate World coordinate which will be converted

Returns: resulting plane coordinate

Field Documentation

◆ gridLowerCorner

Vector2 Ocean::Geometry::Grid::gridLowerCorner

protected

Lower grid corner of the visualization bounding box of the grid defined in the grid coordinate system.

◆ gridUpperCorner

Vector2 Ocean::Geometry::Grid::gridUpperCorner

protected

Upper grid corner of the visualization bounding box of the grid defined in the grid coordinate system .

◆ planeTgrid

HomogenousMatrix4 Ocean::Geometry::Grid::planeTgrid

protected

Transformation that transforms points defined in a coordinate system of the grid into points defined in the plane coordinate system.

◆ planeTvirtualGrid

HomogenousMatrix4 Ocean::Geometry::Grid::planeTvirtualGrid

protected

Transformation that transform points defined in a coordinate system of the virtual grid into points defined in the plane coordinate system.

◆ worldTplane

HomogenousMatrix4 Ocean::Geometry::Grid::worldTplane

protected

Transformation that transforms points defined in a coordinate system of the plane into points defined in the world coordinate system.

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

Grid.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Grid() [1/5]

◆ Grid() [2/5]

◆ Grid() [3/5]

◆ Grid() [4/5]

◆ Grid() [5/5]

Member Function Documentation

◆ adjustGridCornersInXDirectionByImageLines()

◆ adjustGridCornersInYDirectionByImageLines()

◆ areVirtualAndPhysicalGridIdentical()

◆ clipByImageBoundingBox()

◆ clipWorldLineInFrontOfCameraBinarySearchIF()

◆ determineTransformationWithoutShearComponent()

◆ determineVirtualGridTransformationByPlane2WorldTransformation()

◆ determineVirtualGridTransformationsByFourImagePoints()

◆ grid2image()

◆ grid2imageIF()

◆ grid2nearestNode()

◆ grid2plane()

◆ grid2planeTransformation()

◆ grid2world()

◆ grid2worldTransformation()

◆ hasTransformationShearComponent()

◆ image2grid()

◆ image2plane()

◆ image2world()

◆ isInFrontOfCamera()

◆ isInFrontOfCameraIF()

◆ isValid()

◆ lowerGridCorner()

◆ operator!=()

◆ operator==()

◆ plane2grid()

◆ plane2image()

◆ plane2imageIF()

◆ plane2world()

◆ plane2worldTransformation()

◆ setGrid2planeTransformation()

◆ setInvalid()

◆ setLowerGridCorner()

◆ setPlane2worldTransformation()

◆ setUpperGridCorner()

◆ setVirtualGrid2planeTransformation()

◆ upperGridCorner()

◆ virtualGrid2planeTransformation()

◆ virtualGrid2worldTransformation()

◆ virtualPlane2worldTransformation()

◆ world2grid()

◆ world2image()

◆ world2imageIF()

◆ world2plane()

Field Documentation

◆ gridLowerCorner

◆ gridUpperCorner

◆ planeTgrid

◆ planeTvirtualGrid

◆ worldTplane