This class implements a provider for stereo images which are extracted from two separate image sequences and poses/calibration file. More...

#include <ImageSequenceStereoImageProvider.h>

Inheritance diagram for Ocean::Media::ImageSequenceStereoImageProvider:

Public Types
typedef SampleMap< HomogenousMatrixD4 >	TransformationMap
	Definition of a sample map holding 6-DOF transformations.

Public Member Functions
	ImageSequenceStereoImageProvider ()
	Creates an invalid provider object.

	ImageSequenceStereoImageProvider (ImageSequenceStereoImageProvider &&provider)
	Move constructor.

	ImageSequenceStereoImageProvider (const std::string &imageSequenceFilenameA, const std::string &imageSequenceFilenameB, const std::string &transformationsFilename, const double framesPerSecond=30.0)
	Creates a provider object for two image sequences and a poses/calibration file.

bool	nextStereoImages (FisheyeCamera &fisheyeCameraA, FisheyeCamera &fisheyeCameraB, Frame &imageA, Frame &imageB, HomogenousMatrixD4 world_T_device=nullptr, HomogenousMatrixD4 device_T_cameraA=nullptr, HomogenousMatrixD4 device_T_cameraB=nullptr, HomogenousMatricesD4 world_T_leftHandJoints=nullptr, HomogenousMatricesD4 world_T_rightHandJoints=nullptr, bool abort=nullptr) override
	Returns the next stereo images from the provider, further optional transformations between device and world, and between cameras and device will be provided.

bool	restart () override
	Restarts with the first pair of stereo images.

bool	hasDeviceTransformations () const override
	Returns whether the provider has access to the transformations between device and world (world_T_device).

bool	hasCameraTransformations () const override
	Returns whether the provider has access to the transformations between cameras and device (device_T_cameraA and device_T_cameraB).

bool	isValid () const override
	Returns whether this provider can provide valid stereo images (e.g., whether the underlying resources are initialized and whether the source exists).

void	release () override
	Releases all owned resources like e.g., the image sequence objects.

ImageSequenceStereoImageProvider &	operator= (ImageSequenceStereoImageProvider &&provider)
	Move operator.

Public Member Functions inherited from Ocean::Media::StereoImageProviderInterface
virtual	~StereoImageProviderInterface ()
	Destructs this interface.

Static Public Member Functions
static bool	readTransformationsFile (const std::string &transformationsFilename, FisheyeCamera &fisheyeCameraA, FisheyeCamera &fisheyeCameraB, TransformationMap &map_world_T_device, TransformationMap &map_device_T_cameraA, TransformationMap &map_device_T_cameraB, const double framesPerSecond=30.0)
	Extracts the camera calibrations, the device transformations, and the camera transformations from a transformations file.

Protected Member Functions
	ImageSequenceStereoImageProvider (const ImageSequenceStereoImageProvider &provider)=delete
	Disabled copy constructor.

ImageSequenceStereoImageProvider &	operator= (const ImageSequenceStereoImageProvider &provider)=delete
	Disabled assign operator.

Protected Member Functions inherited from Ocean::Media::StereoImageProviderInterface
	StereoImageProviderInterface ()
	Protected default constructor.

Protected Attributes
ImageSequenceRef	imageSequenceA_
	The first image sequence providing the images for the first stereo camera.

ImageSequenceRef	imageSequenceB_
	The second image sequence providing the images for the first stereo camera.

FisheyeCamera	fisheyeCameraA_
	The fisheye camera profile of the first camera.

FisheyeCamera	fisheyeCameraB_
	The fisheye camera profile of the second camera.

TransformationMap	map_world_T_device_
	The sample map transforming device to world.

TransformationMap	map_device_T_cameraA_
	The sample map transforming the first camera to device.

TransformationMap	map_device_T_cameraB_
	The sample map transforming the second camera to device.

double	framesPerSecond_
	The number of frames per second, with range (0, infinity)

Detailed Description

This class implements a provider for stereo images which are extracted from two separate image sequences and poses/calibration file.

Member Typedef Documentation

◆ TransformationMap

typedef SampleMap<HomogenousMatrixD4> Ocean::Media::ImageSequenceStereoImageProvider::TransformationMap

Definition of a sample map holding 6-DOF transformations.

Constructor & Destructor Documentation

◆ ImageSequenceStereoImageProvider() [1/4]

Ocean::Media::ImageSequenceStereoImageProvider::ImageSequenceStereoImageProvider ( )

Creates an invalid provider object.

◆ ImageSequenceStereoImageProvider() [2/4]

Ocean::Media::ImageSequenceStereoImageProvider::ImageSequenceStereoImageProvider ( ImageSequenceStereoImageProvider && provider )

Move constructor.

Parameters

provider The provider to be moved

◆ ImageSequenceStereoImageProvider() [3/4]

Ocean::Media::ImageSequenceStereoImageProvider::ImageSequenceStereoImageProvider	(	const std::string &	imageSequenceFilenameA,
		const std::string &	imageSequenceFilenameB,
		const std::string &	transformationsFilename,
		const double	framesPerSecond = `30.0`
	)

Creates a provider object for two image sequences and a poses/calibration file.

Parameters

imageSequenceFilenameA	The filename of the first image of the first image sequence (the image sequence of the first fisheye camera), must be valid
imageSequenceFilenameB	The filename of the first image of the second image sequence (the image sequence of the second fisheye camera), must be valid
transformationsFilename	The filename of the file containing the camera calibration of both fisheye cameras followed by the individual camera transformations
framesPerSecond	The number of frames per second, with range (0, infinity)

◆ ImageSequenceStereoImageProvider() [4/4]

Ocean::Media::ImageSequenceStereoImageProvider::ImageSequenceStereoImageProvider ( const ImageSequenceStereoImageProvider & provider )

protecteddelete

Disabled copy constructor.

Parameters

provider The provider which would have been copied

Member Function Documentation

◆ hasCameraTransformations()

bool Ocean::Media::ImageSequenceStereoImageProvider::hasCameraTransformations ( ) const

overridevirtual

Returns whether the provider has access to the transformations between cameras and device (device_T_cameraA and device_T_cameraB).

Returns: True, if so

Implements Ocean::Media::StereoImageProviderInterface.

◆ hasDeviceTransformations()

bool Ocean::Media::ImageSequenceStereoImageProvider::hasDeviceTransformations ( ) const

overridevirtual

Returns whether the provider has access to the transformations between device and world (world_T_device).

Returns: True, if so

Implements Ocean::Media::StereoImageProviderInterface.

◆ isValid()

bool Ocean::Media::ImageSequenceStereoImageProvider::isValid ( ) const

overridevirtual

Returns whether this provider can provide valid stereo images (e.g., whether the underlying resources are initialized and whether the source exists).

Returns: True, if so

Implements Ocean::Media::StereoImageProviderInterface.

◆ nextStereoImages()

bool Ocean::Media::ImageSequenceStereoImageProvider::nextStereoImages	(	FisheyeCamera &	fisheyeCameraA,
		FisheyeCamera &	fisheyeCameraB,
		Frame &	imageA,
		Frame &	imageB,
		HomogenousMatrixD4 *	world_T_device = `nullptr`,
		HomogenousMatrixD4 *	device_T_cameraA = `nullptr`,
		HomogenousMatrixD4 *	device_T_cameraB = `nullptr`,
		HomogenousMatricesD4 *	world_T_leftHandJoints = `nullptr`,
		HomogenousMatricesD4 *	world_T_rightHandJoints = `nullptr`,
		bool *	abort = `nullptr`
	)

overridevirtual

Returns the next stereo images from the provider, further optional transformations between device and world, and between cameras and device will be provided.

See also: StereoImageProviderInterface::nextStereoImages(), hasDeviceTransformations(), hasCameraTransformations().

Implements Ocean::Media::StereoImageProviderInterface.

◆ operator=() [1/2]

ImageSequenceStereoImageProvider & Ocean::Media::ImageSequenceStereoImageProvider::operator= ( const ImageSequenceStereoImageProvider & provider )

protecteddelete

Disabled assign operator.

Parameters

provider The provider which would have been assigned

Returns: Reference to this object

◆ operator=() [2/2]

ImageSequenceStereoImageProvider & Ocean::Media::ImageSequenceStereoImageProvider::operator= ( ImageSequenceStereoImageProvider && provider )

Move operator.

Parameters

provider The provider to be moved

Returns: Reference to this object

◆ readTransformationsFile()

static bool Ocean::Media::ImageSequenceStereoImageProvider::readTransformationsFile	(	const std::string &	transformationsFilename,
		FisheyeCamera &	fisheyeCameraA,
		FisheyeCamera &	fisheyeCameraB,
		TransformationMap &	map_world_T_device,
		TransformationMap &	map_device_T_cameraA,
		TransformationMap &	map_device_T_cameraB,
		const double	framesPerSecond = `30.0`
	)

static

Extracts the camera calibrations, the device transformations, and the camera transformations from a transformations file.

The expected format can be outline as follows:

intrinsics of camera A
intrinsics of camera B
frame 1: world_T_device device_T_cameraA device_T_cameraB
frame 2: world_T_device device_T_cameraA device_T_cameraB
frame 3: world_T_device device_T_cameraA device_T_cameraB
...

or, more verbosely,

widthA heightA focalLengthXA focalLengthYA principalPointXA principalPointYA radialDistortionA[0] radialDistortionA[1] radialDistortionA[2] radialDistortionA[3] radialDistortionA[4] radialDistortionA[5] tangentialDistortionA[0] tangentialDistortionA[1]
widthB heightB focalLengthXB focalLengthYB principalPointXB principalPointYB radialDistortionB[0] radialDistortionB[1] radialDistortionB[2] radialDistortionB[3] radialDistortionB[4] radialDistortionB[5] tangentialDistortionB[0] tangentialDistortionB[1]
[wTd0] [wTd1] [wTd2] [wTd3] [wTd4] [wTd5] [wTd6] [wTd7] [wTd8] [wTd9] [wTd10] [wTd11] [wTd12] [wTd13] [wTd14] [wTd15] [dTa0] [dTa1] [dTa2] [dTa3] [dTa4] [dTa5] [dTa6] [dTa7] [dTa8] [dTa9] [dTa10] [dTa11] [dTa12] [dTa13] [dTa14] [dTa15] [dTb0] [dTb1] [dTb2] [dTb3] [dTb4] [dTb5] [dTb6] [dTb7] [dTb8] [dTb9] [dTb10] [dTb11] [dTb12] [dTb13] [dTb14] [dTb15]
[wTd0] [wTd1] [wTd2] [wTd3] [wTd4] [wTd5] [wTd6] [wTd7] [wTd8] [wTd9] [wTd10] [wTd11] [wTd12] [wTd13] [wTd14] [wTd15] [dTa0] [dTa1] [dTa2] [dTa3] [dTa4] [dTa5] [dTa6] [dTa7] [dTa8] [dTa9] [dTa10] [dTa11] [dTa12] [dTa13] [dTa14] [dTa15] [dTb0] [dTb1] [dTb2] [dTb3] [dTb4] [dTb5] [dTb6] [dTb7] [dTb8] [dTb9] [dTb10] [dTb11] [dTb12] [dTb13] [dTb14] [dTb15]
[wTd0] [wTd1] [wTd2] [wTd3] [wTd4] [wTd5] [wTd6] [wTd7] [wTd8] [wTd9] [wTd10] [wTd11] [wTd12] [wTd13] [wTd14] [wTd15] [dTa0] [dTa1] [dTa2] [dTa3] [dTa4] [dTa5] [dTa6] [dTa7] [dTa8] [dTa9] [dTa10] [dTa11] [dTa12] [dTa13] [dTa14] [dTa15] [dTb0] [dTb1] [dTb2] [dTb3] [dTb4] [dTb5] [dTb6] [dTb7] [dTb8] [dTb9] [dTb10] [dTb11] [dTb12] [dTb13] [dTb14] [dTb15]
...

where the first two rows contain the intrinsics of the two fisheye cameras, and starting with the third row each row stores three homogeneous 4-by-4 matrices which correspond to one frame. The matrix elements of each transformation are stored in column-major order, i.e.,

m = [m0 m4 m8  m12]
    [m1 m5 m9  m13]
    [m2 m6 m10 m14]
    [m3 m7 m11 m15]

Parameters

transformationsFilename	The filename of the transformations file, must be valid
fisheyeCameraA	The resulting profile of the first fisheye camera
fisheyeCameraB	The resulting profile of the second fisheye camera
map_world_T_device	The resulting sample map transforming device to world
map_device_T_cameraA	The resulting sample map transforming the first camera to device
map_device_T_cameraB	The resulting sample map transforming the second camera to device
framesPerSecond	The number of frames per second, with range (0, infinity)

Returns: True, if succeeded

◆ release()

void Ocean::Media::ImageSequenceStereoImageProvider::release ( )

overridevirtual

Releases all owned resources like e.g., the image sequence objects.

Implements Ocean::Media::StereoImageProviderInterface.

◆ restart()

bool Ocean::Media::ImageSequenceStereoImageProvider::restart ( )

overridevirtual

Restarts with the first pair of stereo images.

Returns: True, if succeeded

Implements Ocean::Media::StereoImageProviderInterface.

Field Documentation

◆ fisheyeCameraA_

FisheyeCamera Ocean::Media::ImageSequenceStereoImageProvider::fisheyeCameraA_

protected

The fisheye camera profile of the first camera.

◆ fisheyeCameraB_

FisheyeCamera Ocean::Media::ImageSequenceStereoImageProvider::fisheyeCameraB_

protected

The fisheye camera profile of the second camera.

◆ framesPerSecond_

double Ocean::Media::ImageSequenceStereoImageProvider::framesPerSecond_

protected

The number of frames per second, with range (0, infinity)

◆ imageSequenceA_

ImageSequenceRef Ocean::Media::ImageSequenceStereoImageProvider::imageSequenceA_

protected

The first image sequence providing the images for the first stereo camera.

◆ imageSequenceB_

ImageSequenceRef Ocean::Media::ImageSequenceStereoImageProvider::imageSequenceB_

protected

The second image sequence providing the images for the first stereo camera.

◆ map_device_T_cameraA_

TransformationMap Ocean::Media::ImageSequenceStereoImageProvider::map_device_T_cameraA_

protected

The sample map transforming the first camera to device.

◆ map_device_T_cameraB_

TransformationMap Ocean::Media::ImageSequenceStereoImageProvider::map_device_T_cameraB_

protected

The sample map transforming the second camera to device.

◆ map_world_T_device_

TransformationMap Ocean::Media::ImageSequenceStereoImageProvider::map_world_T_device_

protected

The sample map transforming device to world.

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

ImageSequenceStereoImageProvider.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TransformationMap

Constructor & Destructor Documentation

◆ ImageSequenceStereoImageProvider() [1/4]

◆ ImageSequenceStereoImageProvider() [2/4]

◆ ImageSequenceStereoImageProvider() [3/4]

◆ ImageSequenceStereoImageProvider() [4/4]

Member Function Documentation

◆ hasCameraTransformations()

◆ hasDeviceTransformations()

◆ isValid()

◆ nextStereoImages()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ readTransformationsFile()

◆ release()

◆ restart()

Field Documentation

◆ fisheyeCameraA_

◆ fisheyeCameraB_

◆ framesPerSecond_

◆ imageSequenceA_

◆ imageSequenceB_

◆ map_device_T_cameraA_

◆ map_device_T_cameraB_

◆ map_world_T_device_