Ocean::Geometry::TLinkage Class Reference
This class implements L-linkage functions for pose/homography determination. More...
Inheritance diagram for Ocean::Geometry::TLinkage:
Static Public Member Functions | |
| static bool | homographyMatrices (const ImagePoint *leftImagePoints, const ImagePoint *rightImagePoints, const size_t correspondences, SquareMatrices3 &homographies, const unsigned int testCandidates, const ImagePoints &leftPointForInitialModels, const Scalar pixelAssignmentRadius, std::vector< IndexSet32 > *usedIndicesPerHomography=nullptr, bool refineHomographies=true, Ocean::RandomGenerator *randomGenerator=nullptr) |
| Calculates multiple homographies between two images transforming the projected planar object points between the two images using T-linkage The resulting homographies transform its image points defined in the left image to image points defined in the right image (rightPoint_i = H_i * leftPoint_i). More... | |
| static bool | fitLines (const ImagePoint *imagePoints, const size_t pointCount, Lines2 &lines, const unsigned int testCandidates, const ImagePoints &pointForInitialModels, const Scalar pixelErrorAssignmentThreshold, std::vector< IndexSet32 > *usedIndicesPerHomography=nullptr) |
| Multiple line detector using T-linkage. More... | |
Static Private Member Functions | |
| static Scalar | tanimotoDistance (const Matrix &vectorA, const Matrix &vectorB) |
| Calculates the tanimoto distance d(A, B) = 1 - A*B / (A*A + B*B - A*B). More... | |
 Static Private Member Functions inherited from Ocean::Geometry::JLinkage | |
| static bool | homographyMatrices (const ImagePoint *leftImagePoints, const ImagePoint *rightImagePoints, const size_t correspondences, const unsigned int width, const unsigned int height, SquareMatrices3 &homographies, const unsigned int testCandidates, const ImagePoints &leftPointForInitialModels, const Scalar squarePixelErrorAssignmentThreshold, std::vector< IndexSet32 > *usedIndicesPerHomography=nullptr, bool refineHomographies=true, bool approximatedNeighborSearch=true, Ocean::RandomGenerator *randomGenerator=nullptr) |
| Calculates multiple homographies between two images transforming the projected planar object points between the two images using J-linkage The resulting homographies transform its image points defined in the left image to image points defined in the right image (rightPoint_i = H_i * leftPoint_i). More... | |
| static bool | homographyMatrices (const ImagePoint *leftImagePoints, const ImagePoint *rightImagePoints, const size_t correspondences, const unsigned int width, const unsigned int height, SquareMatrices3 &homographies, const unsigned int testCandidates, const Indices32 &leftPointIndicesForInitialModels, const Scalar squarePixelErrorAssignmentThreshold, std::vector< IndexSet32 > *usedIndicesPerHomography=nullptr, bool refineHomographies=true, bool approximatedNeighborSearch=true, Ocean::RandomGenerator *randomGenerator=nullptr) |
| Calculates multiple homographies between two images transforming the projected planar object points between the two images using J-linkage The resulting homographies transform its image points defined in the left image to image points defined in the right image (rightPoint_i = H_i * leftPoint_i). More... | |
| static bool | fitLines (const ImagePoint *imagePoints, const size_t pointCount, const unsigned int width, const unsigned int height, Lines2 &lines, const unsigned int testCandidates, const ImagePoints &pointForInitialModels, const Scalar pixelErrorAssignmentThreshold, std::vector< IndexSet32 > *usedIndicesPerHomography=nullptr, bool approximatedNeighborSearch=true) |
| Multiple line detector using J-linkage. More... | |
| static std::vector< Indices32 > | buildingMinimalSampleSet (const ImagePoint *imagePoints, const size_t pointCount, const ImagePoints &pointForInitialModels, const unsigned int testCandidates, const SpatialDistribution::DistributionArray *distributionImagePoints=nullptr) |
| Generates minimal sample set for J-/T-Linkage. More... | |
| static SquareMatrices3 | buildingMinimalSampleSetHomography (const ImagePoint *leftImagePoints, const ImagePoint *rightImagePoints, const size_t correspondences, const ImagePoints &leftPointForInitialModels, const unsigned int testCandidates, const SpatialDistribution::DistributionArray *distributionImagePoints=nullptr, RandomGenerator *randomRansac=nullptr) |
| Generates a homography per minimal sample set (for J-/T-Linkage) More... | |
| static Lines2 | buildingMinimalSampleSetLine (const ImagePoint *imagePoints, const size_t pointCount, const ImagePoints &pointForInitialModels, const unsigned int testCandidates, const SpatialDistribution::DistributionArray *distributionImagePoints=nullptr) |
| Generates a line model per minimal sample set (for J-/T-Linkage) More... | |
| static Scalar | jaccardDistance (const IndexSet32 &setA, const IndexSet32 &setB) |
| Calculates the jaccard distance d(A, B) = ( |union(A, B)| - |intersection(A, B)| ) / |union(A, B)|. More... | |
| static bool | distancePairSortAscending (const DistancePair &firstPair, const DistancePair &seccondPair) |
| Sorts pairs of indices and their corresponding distances in ascending order regarding the distance values. More... | |
Additional Inherited Members | |
| Private Types inherited from Ocean::Geometry::JLinkage | |
| typedef std::pair< Scalar, Index32 > | DistancePair |
| Definition of a pair combining a point index with the distance to a reference. More... | |
Detailed Description
This class implements L-linkage functions for pose/homography determination.
T-linkage aims to fit multiple models from data given The T-linkage algorithm is an agglomerative clustering that proceeds by linking elements with tanimoto distance smaller than 1 and stop as soon as there are no such elements left.
Member Function Documentation
◆ fitLines()
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static |
Multiple line detector using T-linkage.
- Parameters
-
imagePoints image points pointCount Number of points lines Resulting valid line model testCandidates Number of candidates used in for minimum sample set, with range [2, correspondences] pointForInitialModels Initial image points, one per each sample set pixelErrorAssignmentThreshold Maximal pixel error of a point-line corresspodance (0, infinity) usedIndicesPerHomography Optional set of indices which will receive the indices of the used image correspondences per model, if defined
- Returns
- True, if successfully completed
◆ homographyMatrices()
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static |
Calculates multiple homographies between two images transforming the projected planar object points between the two images using T-linkage The resulting homographies transform its image points defined in the left image to image points defined in the right image (rightPoint_i = H_i * leftPoint_i).
- Parameters
-
leftImagePoints Image points in the left camera, each point corresponds to one point in the right image rightImagePoints Image points in the right camera correspondences Number of points correspondences homographies Resulting valid homographies for each image plane testCandidates Number of candidates used in for minimum sample set, with range [8, correspondences] leftPointForInitialModels Initial image points, one per each sample set pixelAssignmentRadius Maximal pixel radius of image points being considered [5, image width) usedIndicesPerHomography Optional set of indices which will receive the indices of the used image correspondences per model, if defined refineHomographies Determines whether a not linear least square algorithm is used to increase the pose accuracies after J-linkage randomGenerator Random number generator. If is not nullptr, RANSAC is used for homography refinement
- Returns
- True, if successfully completed
◆ tanimotoDistance()
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inlinestaticprivate |
Calculates the tanimoto distance d(A, B) = 1 - A*B / (A*A + B*B - A*B).
A and B must have the same amount of elements
- Parameters
-
vectorA first vector to compare vectorB second vector to compare
- Returns
- Tanimoto distance [0, 1]
The documentation for this class was generated from the following file:
