This class implements utility functions for the geometry test library. More...

#include <Utilities.h>

Static Public Member Functions
static Vectors2	imagePoints (const PinholeCamera &pinholeCamera, const size_t number, RandomGenerator *randomGenerator=nullptr)
	Creates a set of image points that are located inside a camera frame.

static Vectors3	objectPoints (const Box3 &boundingBox, const size_t number, RandomGenerator *randomGenerator=nullptr)
	Creates a set of object points that are located inside a specified bounding box.

static HomogenousMatrix4	viewPosition (const PinholeCamera &pinholeCamera, const Sphere3 &boundingSphere, const Vector3 &viewingDirection)
	Deprecated.

template<typename T >
static HomogenousMatrixT4< T >	viewPosition (const AnyCameraT< T > &anyCamera, const SphereT3< T > &boundingSphere, const VectorT3< T > &viewingDirection)
	Determines a viewing position for a given camera for a set of 3D object points so that all point project into the camera frame.

static HomogenousMatrix4	viewPosition (const PinholeCamera &pinholeCamera, const Vectors3 &objectPoints, const Vector3 &viewingDirection, const bool circumcircle=true)
	Deprecated.

template<typename T >
static HomogenousMatrixT4< T >	viewPosition (const AnyCameraT< T > &anyCamera, const VectorsT3< T > &objectPoints, const VectorT3< T > &viewingDirection, const bool circumcircle=true)
	Determines a viewing position for a given camera for a set of 3D object points so that all point project into the camera frame.

static HomogenousMatrix4	viewPosition (const PinholeCamera &pinholeCamera, const Vectors3 &objectPoints, const bool circumcircle=true, RandomGenerator *randomGenerator=nullptr)
	Deprecated.

template<typename T >
static HomogenousMatrixT4< T >	viewPosition (const AnyCameraT< T > &anyCamera, const VectorsT3< T > &objectPoints, const bool circumcircle=true, RandomGenerator *randomGenerator=nullptr)
	Determines a viewing position for a given camera for a set of 3D object points so that all point project into the camera frame.

static PinholeCamera	distortedCamera (const PinholeCamera &pinholeCamera, const bool principalPointDistortion=true, const bool radialDistortion=true, const bool tangentialDistortion=true, RandomGenerator *randomGenerator=nullptr, const Scalar maximalPrincipalPointOffset=Scalar(20), const Scalar maximalRadialDistortion=Scalar(0.1), const Scalar maximalTangentialDistortion=Scalar(0.01))
	Modifies a provided camera and adds random radial and tangential distortion.

template<typename T = Scalar>
static PinholeCameraT< T >	realisticPinholeCamera (const unsigned int index=0u)
	Returns one of two realistic pinhole camera profiles.

template<typename T = Scalar>
static FisheyeCameraT< T >	realisticFisheyeCamera (const unsigned int index=0u)
	Returns one of two realistic fisheye camera profiles.

template<typename T = Scalar>
static SharedAnyCameraT< T >	realisticAnyCamera (const AnyCameraType anyCameraType, const unsigned int index=0u)
	Returns one of two realistic camera profiles provided as an AnyCamera object.

static std::vector< AnyCameraType >	realisticCameraTypes ()
	Returns all camera types for which a realistic camera object can be accessed.

static IndexSet32	randomIndices (const size_t size, const size_t randomIndices, RandomGenerator *randomGenerator=nullptr)
	Creates a set of random indices.

Detailed Description

This class implements utility functions for the geometry test library.

Member Function Documentation

◆ distortedCamera()

static PinholeCamera Ocean::Test::TestGeometry::Utilities::distortedCamera	(	const PinholeCamera &	pinholeCamera,
		const bool	principalPointDistortion = `true`,
		const bool	radialDistortion = `true`,
		const bool	tangentialDistortion = `true`,
		RandomGenerator *	randomGenerator = `nullptr`,
		const Scalar	maximalPrincipalPointOffset = `Scalar(20)`,
		const Scalar	maximalRadialDistortion = `Scalar(0.1)`,
		const Scalar	maximalTangentialDistortion = `Scalar(0.01)`
	)

static

Modifies a provided camera and adds random radial and tangential distortion.

Parameters

pinholeCamera	The pinhole camera object that will be modified
principalPointDistortion	True, to modify the principal point
radialDistortion	True, to modify the radial distortion
tangentialDistortion	True, to modify the tangential distortion
randomGenerator	Optional random generator, nullptr to use a default random generator
maximalPrincipalPointOffset	Maximal offset of the principal point, with range [0, infinity)
maximalRadialDistortion	Maximal radial distortion, with range [0, infinity)
maximalTangentialDistortion	Maximal tangential distortion, with range [0, infinity)

Returns: Resulting modified camera

◆ imagePoints()

static Vectors2 Ocean::Test::TestGeometry::Utilities::imagePoints	(	const PinholeCamera &	pinholeCamera,
		const size_t	number,
		RandomGenerator *	randomGenerator = `nullptr`
	)

static

Creates a set of image points that are located inside a camera frame.

Parameters

pinholeCamera	The pinhole camera profile that is applied
number	The number of the resulting image points, with range [1, infinity)
randomGenerator	Optional random generator

Returns: Resulting 2D image points

◆ objectPoints()

static Vectors3 Ocean::Test::TestGeometry::Utilities::objectPoints	(	const Box3 &	boundingBox,
		const size_t	number,
		RandomGenerator *	randomGenerator = `nullptr`
	)

static

Creates a set of object points that are located inside a specified bounding box.

Parameters

boundingBox	3D bounding box
number	The number of the resulting object points, with range [1, infinity)
randomGenerator	Optional random generator

Returns: Resulting 3D object points

◆ randomIndices()

static IndexSet32 Ocean::Test::TestGeometry::Utilities::randomIndices	(	const size_t	size,
		const size_t	randomIndices,
		RandomGenerator *	randomGenerator = `nullptr`
	)

static

Creates a set of random indices.

Parameters

size	The size of the entire element, with range [1, infinity)
randomIndices	Number of random indices, with range [1, size]
randomGenerator	Optional random generator

◆ realisticAnyCamera()

template<typename T = Scalar>

static SharedAnyCameraT< T > Ocean::Test::TestGeometry::Utilities::realisticAnyCamera	(	const AnyCameraType	anyCameraType,
		const unsigned int	index = `0u`
	)

static

Returns one of two realistic camera profiles provided as an AnyCamera object.

Parameters

anyCameraType	The type of the camera to be created, must be valid
index	The index of the camera profile to be returned, with range [0, 1]

Returns: The realistic camera profile

Template Parameters

T	The data type of the scalar to be used, either 'float' or 'double'

◆ realisticCameraTypes()

static std::vector< AnyCameraType > Ocean::Test::TestGeometry::Utilities::realisticCameraTypes ( )

static

Returns all camera types for which a realistic camera object can be accessed.

Returns: The available camera types

◆ realisticFisheyeCamera()

template<typename T = Scalar>

static FisheyeCameraT< T > Ocean::Test::TestGeometry::Utilities::realisticFisheyeCamera ( const unsigned int index = 0u )

static

Returns one of two realistic fisheye camera profiles.

Parameters

index The index of the camera profile to be returned, with range [0, 1]

Template Parameters

T	The data type of the scalar to be used, either 'float' or 'double'

Returns: The realistic camera profile

◆ realisticPinholeCamera()

template<typename T = Scalar>

static PinholeCameraT< T > Ocean::Test::TestGeometry::Utilities::realisticPinholeCamera ( const unsigned int index = 0u )

static

Returns one of two realistic pinhole camera profiles.

Parameters

index The index of the camera profile to be returned, with range [0, 1]

Returns: The realistic camera profile

Template Parameters

T	The data type of the scalar to be used, either 'float' or 'double'

◆ viewPosition() [1/6]

template<typename T >

static HomogenousMatrixT4< T > Ocean::Test::TestGeometry::Utilities::viewPosition	(	const AnyCameraT< T > &	anyCamera,
		const SphereT3< T > &	boundingSphere,
		const VectorT3< T > &	viewingDirection
	)

static

Determines a viewing position for a given camera for a set of 3D object points so that all point project into the camera frame.

Parameters

anyCamera	The camera profile defining the projection, must be valid
boundingSphere	Bounding sphere that has to be visible in the final view, can have radius 0, must be valid
viewingDirection	Viewing direction of the resulting camera with unit length

Returns: Resulting camera pose, transforming camera to world (world_T_camera)

Template Parameters

T	The data type of the scalar to use, either 'float' or 'double'

◆ viewPosition() [2/6]

template<typename T >

static HomogenousMatrixT4< T > Ocean::Test::TestGeometry::Utilities::viewPosition	(	const AnyCameraT< T > &	anyCamera,
		const VectorsT3< T > &	objectPoints,
		const bool	circumcircle = `true`,
		RandomGenerator *	randomGenerator = `nullptr`
	)

static

Determines a viewing position for a given camera for a set of 3D object points so that all point project into the camera frame.

Parameters

anyCamera	The camera profile defining the projection, must be valid
objectPoints	Object points for that the camera position will be determined
circumcircle	True, to ensure that all object points will project into the frame, otherwise some sole points will project outside the image frame
randomGenerator	Optional random generator

Returns: Resulting camera pose, transforming camera to world (world_T_camera)

Template Parameters

T	The data type of the scalar to use, either 'float' or 'double'

◆ viewPosition() [3/6]

template<typename T >

static HomogenousMatrixT4< T > Ocean::Test::TestGeometry::Utilities::viewPosition	(	const AnyCameraT< T > &	anyCamera,
		const VectorsT3< T > &	objectPoints,
		const VectorT3< T > &	viewingDirection,
		const bool	circumcircle = `true`
	)

static

Determines a viewing position for a given camera for a set of 3D object points so that all point project into the camera frame.

Parameters

anyCamera	The camera profile defining the projection, must be valid
objectPoints	Object points for that the camera position will be determined
viewingDirection	Viewing direction of the resulting camera with unit length
circumcircle	True, to ensure that all object points will project into the frame, otherwise some sole points will project outside the image frame

Returns: Resulting camera pose, transforming camera to world (world_T_camera)

Template Parameters

T	The data type of the scalar to use, either 'float' or 'double'

◆ viewPosition() [4/6]

static HomogenousMatrix4 Ocean::Test::TestGeometry::Utilities::viewPosition	(	const PinholeCamera &	pinholeCamera,
		const Sphere3 &	boundingSphere,
		const Vector3 &	viewingDirection
	)

static

Deprecated.

Determines a viewing position for a given camera for a set of 3D object points so that all point project into the camera frame.

Parameters

pinholeCamera	The pinhole camera profile defining the projection, must be valid
boundingSphere	Bounding sphere that has to be visible in the final view, can have radius 0, must be valid
viewingDirection	Viewing direction of the resulting camera with unit length

Returns: Resulting camera pose, transforming camera to world (world_T_camera)

◆ viewPosition() [5/6]

static HomogenousMatrix4 Ocean::Test::TestGeometry::Utilities::viewPosition	(	const PinholeCamera &	pinholeCamera,
		const Vectors3 &	objectPoints,
		const bool	circumcircle = `true`,
		RandomGenerator *	randomGenerator = `nullptr`
	)

static

Deprecated.

Determines a viewing position for a given camera for a set of 3D object points so that all point project into the camera frame.

Parameters

pinholeCamera	The pinhole camera profile defining the projection, must be valid
objectPoints	Object points for that the camera position will be determined
circumcircle	True, to ensure that all object points will project into the frame, otherwise some sole points will project outside the image frame
randomGenerator	Optional random generator

Returns: Resulting camera pose, transforming camera to world (world_T_camera)

◆ viewPosition() [6/6]

static HomogenousMatrix4 Ocean::Test::TestGeometry::Utilities::viewPosition	(	const PinholeCamera &	pinholeCamera,
		const Vectors3 &	objectPoints,
		const Vector3 &	viewingDirection,
		const bool	circumcircle = `true`
	)

static

Deprecated.

Determines a viewing position for a given camera for a set of 3D object points so that all point project into the camera frame.

Parameters

pinholeCamera	The pinhole camera profile defining the projection, must be valid
objectPoints	Object points for that the camera position will be determined
viewingDirection	Viewing direction of the resulting camera with unit length
circumcircle	True, to ensure that all object points will project into the frame, otherwise some sole points will project outside the image frame

Returns: Resulting camera pose, transforming camera to world (world_T_camera)

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

test/testgeometry/Utilities.h

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ distortedCamera()

◆ imagePoints()

◆ objectPoints()

◆ randomIndices()

◆ realisticAnyCamera()

◆ realisticCameraTypes()

◆ realisticFisheyeCamera()

◆ realisticPinholeCamera()

◆ viewPosition() [1/6]

◆ viewPosition() [2/6]

◆ viewPosition() [3/6]

◆ viewPosition() [4/6]

◆ viewPosition() [5/6]

◆ viewPosition() [6/6]