This class implements a database for 3D object points, 2D image points and 6DOF camera poses. More...

Data Structures
class	ConstImagePointAccessorIds
	This class implements an accessor object for image points based on a set of image point ids. More...

class	ConstImagePointAccessorTopology
	This class implements an accessor object for image points based on a topology between poses and image points. More...

class	ConstObjectPointAccessorIds
	This class implements an accessor object for object points based on a set of object point ids. More...

class	ConstPoseAccessorIds
	This class implements an accessor object for poses based on a set of pose ids. More...

class	ConstPoseAccessorTopology
	This class implements an accessor object for poses based on a topology between poses and image points. More...

class	Data
	The base class for all data object storing a set of image point ids. More...

class	ImagePointData
	This class implements a data object storing the information connected with an id of an image point. More...

class	ImagePointObject
	This class implements an object storing an id of an image point. More...

class	ObjectPointData
	The data object encapsulating a 3D object point. More...

class	ObjectPointObject
	This class implements an object storing an id of an object point. More...

class	PoseData
	The data object encapsulating a 6DOF camera pose. More...

class	PoseImagePointPair
	This class stores a pair of pose id and image point id. More...

class	PoseObject
	This class implements an object storing an id of an pose object. More...

class	TopologyTriple
	This class defines the topology between a camera pose id, an object point id and an image point id. More...

Public Types
typedef std::map< Index32, Vector2 >	IdPointMap
	Definition of a map mapping ids to 2D image point object. More...

typedef std::pair< Index32, Vector2 >	IdPointPair
	Definition of a pair of ids and 2D image points. More...

typedef std::vector< IdPointPair >	IdPointPairs
	Definition of a vector holding pairs of ids and 2D image points. More...

typedef std::map< Index32, IdPointPairs >	IdIdPointPairsMap
	Definition of a map mapping ids to 2D image point id pairs. More...

typedef std::map< Index32, Vectors2 >	ImagePointsMap
	Definition of a map mapping ids to 2D vectors. More...

typedef std::vector< Vectors2 >	ImagePointGroups
	Definition of a vector holding 2D vectors. More...

typedef std::vector< PoseImagePointPair >	PoseImagePointTopology
	Definition of a vector holding several pairs of pose and image point ids. More...

typedef std::vector< std::pair< Index32, PoseImagePointTopology > >	PoseImagePointTopologyGroups
	Definition of a vector holding several groups of pairs of pose and image point ids. More...

typedef std::vector< TopologyTriple >	TopologyTriples
	Definition of a vector holding object of topology triple. More...

Public Member Functions
	Database ()
	Creates a new empty database object. More...

	Database (const Database &database)
	Copy constructor. More...

	Database (Database &&database) noexcept
	Move constructor. More...

Lock &	lock ()
	Returns a reference to the lock object of this database object. More...

template<bool tThreadSafe>
bool	isEmpty () const
	Returns whether this database holds at least one image point, one object point or one camera pose. More...

template<bool tThreadSafe>
size_t	poseNumber () const
	Returns the number of poses of this database. More...

template<bool tThreadSafe>
size_t	objectPointNumber () const
	Returns the number of object point ids in this database. More...

template<bool tThreadSafe>
size_t	imagePointNumber () const
	Returns the number of image point ids in this database. More...

template<bool tThreadSafe>
const Vector2 &	imagePoint (const Index32 imagePointId) const
	Returns the location of an image point which is specified by the id of the image point. More...

template<bool tThreadSafe>
Vectors2	imagePoints (const Indices32 &imagePointIds) const
	Returns the positions of 2D image points specified by the ids of the image points. More...

template<bool tThreadSafe>
Vectors2	imagePoints (const IndexSet32 &imagePointIds) const
	Returns the positions of 2D image points specified by the ids of the image points. More...

template<bool tThreadSafe>
bool	hasObservation (const Index32 poseId, const Index32 objectPointId, Vector2 point=nullptr, Index32 pointId=nullptr) const
	Returns whether an object point is visible in a specified frame, and optional the location and id of the corresponding image point. More...

template<bool tThreadSafe>
const Vector3 &	objectPoint (const Index32 objectPointId) const
	Returns the location of an object point which is specified by the id of the object point. More...

template<bool tThreadSafe>
const Vector3 &	objectPoint (const Index32 objectPointId, Scalar &objectPointPriority) const
	Returns the location and priority of an object point which is specified by the id of the object point. More...

template<bool tThreadSafe>
Scalar	objectPointPriority (const Index32 objectPointId) const
	Returns the priority of an object point which is specified by the id of the object point. More...

template<bool tThreadSafe>
Vectors3	objectPoints () const
	Returns the positions of all 3D object points. More...

template<bool tThreadSafe, bool tMatchPosition>
Vectors3	objectPoints (const Vector3 &referencePosition, Indices32 *objectPointIds=nullptr, const Scalar minimalPriority=Scalar(-1)) const
	Returns the positions of all 3D object points that match or that do not match the position of a specified reference object point and which have a specified minimal priority value. More...

template<bool tThreadSafe>
Vectors3	objectPoints (const Indices32 &objectPointIds) const
	Returns the positions of 3D object points specified by the ids of the object points. More...

template<bool tThreadSafe>
const HomogenousMatrix4 &	pose (const Index32 poseId) const
	Returns the 6DOF pose of a camera frame which is specified by the id of the pose. More...

template<bool tThreadSafe>
HomogenousMatrices4	poses (const Index32 *poseIds, const size_t size) const
	Returns the 6DOF pose values for all specified pose ids. More...

template<bool tThreadSafe>
SquareMatrices3	rotationalPoses (const Index32 *poseIds, const size_t size) const
	Returns the 3DOF rotational part of the 6DOF pose values for all specified pose ids. More...

template<bool tThreadSafe, bool tMatchPose>
HomogenousMatrices4	poses (const HomogenousMatrix4 &referencePose, Indices32 *poseIds=nullptr) const
	Returns all 6DOF poses which match a given reference pose or which do not match a given reference pose. More...

template<bool tThreadSafe>
HomogenousMatrices4	poses (const Index32 lowerPoseId, const Index32 upperPoseId) const
	Returns all 6DOF poses (valid or invalid) lying between a specified range of pose ids. More...

template<bool tThreadSafe, bool tMatchPose>
Indices32	poseIds (const HomogenousMatrix4 &referencePose, HomogenousMatrices4 *poses=nullptr) const
	Returns the ids of specific 6DOF poses. More...

template<bool tThreadSafe>
bool	poseBorders (Index32 &lowerPoseId, Index32 &upperPoseId) const
	Returns the smallest id (the id of the lower frame border) and the largest id (the id of the upper frame border) of all poses that are known in this database. More...

template<bool tThreadSafe>
bool	validPoseBorders (Index32 &rangeLowerPoseId, Index32 &rangeUpperPoseId) const
	Returns the smallest id (the id of the lower frame border) and the largest id (the id of the upper frame border) with a valid pose (from all known poses in this database. More...

template<bool tThreadSafe>
bool	validPoseRange (const Index32 lowerPoseId, const Index32 startPoseId, const Index32 upperPoseId, Index32 &rangeLowerPoseId, Index32 &rangeUpperPoseId) const
	Determines the pose id range (around a specified start frame) for which the database holds valid poses. More...

template<bool tThreadSafe>
bool	largestValidPoseRange (const Index32 lowerPoseId, const Index32 upperPoseId, Index32 &rangeLowerPoseId, Index32 &rangeUpperPoseId) const
	Determines the largest pose id range for which the database holds valid poses. More...

template<bool tThreadSafe, bool tMatchPosition, bool tNeedValidPose>
bool	poseWithMostCorrespondences (const Index32 lowerPoseId, const Index32 upperPoseId, Index32 poseId=nullptr, unsigned int correspondences=nullptr, const Vector3 &referenceObjectPoint=invalidObjectPoint()) const
	Determines the pose id for which the database holds the most number of point correspondences (between e.g., valid or invalid object points and image points). More...

template<bool tThreadSafe, bool tMatchPosition, bool tNeedValidPose>
bool	poseWithLeastCorrespondences (const Index32 lowerPoseId, const Index32 upperPoseId, Index32 poseId=nullptr, unsigned int correspondences=nullptr, const Vector3 &referenceObjectPoint=invalidObjectPoint()) const
	Determines the pose id for which the database holds the least number of point correspondences (between e.g., valid or invalid object points and image points). More...

template<bool tThreadSafe>
bool	poseWithMostObservations (const IndexSet32 &poseCandidates, const IndexSet32 &majorObjectPointIds, const IndexSet32 &minorObjectPointIds, Index32 &poseId, Indices32 visibleMajorObjectPointIds=nullptr, Indices32 visibleMinorObjectPointIds=nullptr) const
	Determines the pose id from a set of given pose id candidates for which the database holds the most observations from a set of given object point ids. More...

template<bool tThreadSafe>
unsigned int	numberObservations (const Index32 poseId, const Indices32 &objectPointIds) const
	Counts the number of observations of a given set of object point ids for a specific camera frame. More...

template<bool tThreadSafe, bool tMatchPosition, bool tNeedValidPose>
unsigned int	numberCorrespondences (const Index32 poseId, const Vector3 &referenceObjectPoint, const Scalar minimalPriority=Scalar(-1)) const
	Counts the number of correspondences (e.g., valid or invalid) between image and object points for a specified pose. More...

template<bool tThreadSafe, bool tMatchPosition, bool tNeedValidPose>
Indices32	numberCorrespondences (const Index32 lowerPoseId, const Index32 upperPoseId, const Vector3 &referenceObjectPoint, const Scalar minimalPriority=Scalar(-1), Worker *worker=nullptr) const
	Counts the number of valid correspondences between image and object points for several poses individually. More...

template<bool tThreadSafe>
bool	hasImagePoint (const Index32 imagePointId, Vector2 *imagePoint=nullptr) const
	Returns whether this database holds a specified image point. More...

template<bool tThreadSafe>
Index32	addImagePoint (const Vector2 &imagePoint)
	Adds a new 2D image point to this database. More...

template<bool tThreadSafe>
void	removeImagePoint (const Index32 imagePointId)
	Removes an image point from this database. More...

template<bool tThreadSafe>
bool	hasObjectPoint (const Index32 objectPointId, Vector3 *objectPoint=nullptr) const
	Returns whether this database holds a specified object point. More...

template<bool tThreadSafe>
Index32	addObjectPoint (const Vector3 &objectPoint, const Scalar priority=Scalar(-1))
	Adds a new 3D object point to this database. More...

template<bool tThreadSafe>
void	addObjectPoint (const Index32 objectPointId, const Vector3 &objectPoint, const Scalar priority=Scalar(-1))
	Adds a new 3D object point to this database. More...

Index32	addObjectPointFromDatabase (const Database &secondDatabase, const Index32 secondDatabaseObjectPointId, const SquareMatrix3 &imagePointTransformation=SquareMatrix3(true), const Index32 newObjectPointId=invalidId, const Index32 secondDatabaseLowerPoseId=invalidId, const Index32 secondDatabaseUpperPoseId=invalidId, const bool forExistingPosesOnly=false)
	Adds an object point from another database, adds all connected image points, registers unknown poses, and adds the topology. More...

template<bool tThreadSafe>
void	removeObjectPoint (const Index32 objectPointId)
	Removes an object point from this database. More...

template<bool tThreadSafe>
void	removeObjectPointAndAttachedImagePoints (const Index32 objectPointId)
	Removes an object point from this database and also removes all image points attached to the object point. More...

template<bool tThreadSafe>
void	renameObjectPoint (const Index32 oldObjectPointId, const Index32 newObjectPointId)
	Renames an object point, changes the id of the object point respectively. More...

template<bool tThreadSafe>
void	mergeObjectPoints (const Index32 remainingObjectPointId, const Index32 removingObjectPointId, const Vector3 &newPoint, const Scalar newPriority)
	Merges two object points together, afterwards one object point will be removed. More...

template<bool tThreadSafe>
bool	hasPose (const Index32 poseId, HomogenousMatrix4 *pose=nullptr) const
	Returns whether this database holds a specified camera pose. More...

template<bool tThreadSafe>
bool	addPose (const Index32 poseId, const HomogenousMatrix4 &pose=HomogenousMatrix4(false))
	Adds a new camera pose by specifying the unique id of the new pose. More...

template<bool tThreadSafe>
void	removePose (const Index32 poseId)
	Removes a pose from this database. More...

template<bool tThreadSafe>
Index32	poseFromImagePoint (const Index32 imagePointId) const
	Determines the camera pose (camera frame) in which a specified image point is visible (to which the image point has been added). More...

template<bool tThreadSafe>
size_t	numberImagePointsFromObjectPoint (const Index32 objectPointId) const
	Returns the number of image point observations which belong to a given object point. More...

template<bool tThreadSafe>
void	observationsFromObjectPoint (const Index32 objectPointId, Indices32 &poseIds, Indices32 &imagePointIds, Vectors2 *imagePoints=nullptr) const
	Returns all observations (combination of poses and image points) which belong to a given object point. More...

template<bool tThreadSafe>
void	observationsFromObjectPoint (const Index32 objectPointId, const Indices32 &poseIdCandidates, Indices32 &validPoseIndices, Indices32 imagePointIds, Vectors2 imagePoints=nullptr) const
	Returns all observations (combination of poses and image points) which belong to a given object point and a set of pose candidates. More...

template<bool tThreadSafe>
Index32	objectPointFromImagePoint (const Index32 imagePointId) const
	Returns the object point which belongs to a given image point. More...

template<bool tThreadSafe>
const IndexSet32 &	imagePointsFromPose (const Index32 poseId) const
	Returns all image points which belong to a given camera pose. More...

template<bool tThreadSafe>
const IndexSet32 &	imagePointsFromObjectPoint (const Index32 objectPointId) const
	Returns all image points which belong to a given object point. More...

template<bool tThreadSafe>
IndexSet32	posesFromObjectPoint (const Index32 objectPointId) const
	Returns all poses which belong to a given object point. More...

template<bool tThreadSafe>
void	attachImagePointToObjectPoint (const Index32 imagePointId, const Index32 objectPointId)
	Attaches an existing image point to an existing object points (defines the topology between an image point and an object point). More...

template<bool tThreadSafe>
void	detachImagePointFromObjectPoint (const Index32 imagePointId)
	Detaches an image point from an object point (withdraws the topology). More...

template<bool tThreadSafe>
void	attachImagePointToPose (const Index32 imagePointId, const Index32 poseId)
	Attaches an existing image point to an existing camera pose (defines the topology between an image point and a camera pose). More...

template<bool tThreadSafe>
void	detachImagePointFromPose (const Index32 imagePointId)
	Detaches an image point from a camera pose (withdraws the topology). More...

template<bool tThreadSafe>
void	setImagePoint (const Index32 imagePointId, const Vector2 &imagePoint)
	Sets (changes) an image point. More...

template<bool tThreadSafe>
void	setObjectPoint (const Index32 objectPointId, const Vector3 &objectPoint)
	Sets (changes) an object point without modifying the priority value of the object point. More...

template<bool tThreadSafe>
void	setObjectPoints (const Index32 objectPointIds, const Vector3 objectPoints, const size_t number)
	Sets (changes) a set of object points without modifying the priority value of the object points. More...

template<bool tThreadSafe>
void	setObjectPoints (const Index32 *objectPointIds, const size_t number, const Vector3 &referenceObjectPoint)
	Sets (changes) a set of object points without modifying the priority value of the object points. More...

template<bool tThreadSafe>
void	setObjectPoints (const Vector3 &objectPoint=invalidObjectPoint())
	Sets (changes) all object points to one unique position without modifying the priority value of the object points. More...

template<bool tThreadSafe>
void	setObjectPoint (const Index32 objectPointId, const Vector3 &objectPoint, const Scalar priority)
	Sets (changes) an object point. More...

template<bool tThreadSafe>
void	setObjectPointPriority (const Index32 objectPointId, const Scalar priority)
	Sets (changes) the priority value of an object point. More...

template<bool tThreadSafe>
void	setPose (const Index32 poseId, const HomogenousMatrix4 &pose)
	Sets (changes) a pose. More...

template<bool tThreadSafe>
void	setPoses (const Index32 poseIds, const HomogenousMatrix4 poses, const size_t number)
	Sets (changes) a set of poses. More...

template<bool tThreadSafe>
void	setPoses (const ShiftVector< HomogenousMatrix4 > &poses)
	Sets (changes) a set of poses. More...

template<bool tThreadSafe>
void	setPoses (const HomogenousMatrix4 &pose)
	Sets (changes) all poses to one unique pose value. More...

template<bool tThreadSafe>
const IndexSet32 &	imagePointIds (const Index32 poseId) const
	Returns the ids of all image points visible in a specified camera pose (camera frame). More...

template<bool tThreadSafe>
Indices32	imagePointIds (const Index32 poseId, Indices32 &objectPointIds) const
	Returns the ids of all image points which are projections of a set of object point in a specific camera frame. More...

template<bool tThreadSafe>
Vectors2	imagePoints (const Index32 poseId, Indices32 *imagePointIds=nullptr) const
	Returns all image points which are located in a specified frame. More...

template<bool tThreadSafe>
Indices32	imagePointIds (Vectors2 *imagePoints=nullptr) const
	Returns the ids of all image points that are part of this database. More...

template<bool tThreadSafe>
Indices32	objectPointIds (Vectors3 objectPoints=nullptr, Scalars priorities=nullptr) const
	Returns the ids of all object points that are part of this database. More...

template<bool tThreadSafe>
Indices32	objectPointIds (const IndexSet32 &outlierObjectPointIds) const
	Returns the ids of all object points that are part of this database and which are not provided by the explicit set of outlier object point ids. More...

template<bool tThreadSafe>
Indices32	poseIds (HomogenousMatrices4 *world_T_cameras=nullptr) const
	Returns the ids of all poses that are part of this database. More...

template<bool tThreadSafe, bool tMatchPosition>
Indices32	objectPointIds (const Vector3 &referencePosition, Vectors3 *objectPoints=nullptr, const Scalar minimalPriority=Scalar(-1)) const
	Returns all object points with a specific location and priority value larger or equal to a given threshold. More...

template<bool tThreadSafe, bool tMatchPosition>
Indices32	objectPointIds (const IndexSet32 &outlierObjectPointIds, const Vector3 &referencePosition, Vectors3 *objectPoints=nullptr, const Scalar minimalPriority=Scalar(-1)) const
	Returns the ids of all object points with a specific location and having a priority value larger or equal to a given threshold as long as the object point is not defined in the explicit set of outlier object point ids. More...

template<bool tThreadSafe, bool tMatchPosition>
IndexPairs32	objectPointIdsWithNumberOfObservations (const Vector3 &referencePosition, const Scalar minimalPriority=Scalar(-1), Worker *worker=nullptr) const
	Returns pairs of object point ids combined with counts of valid observations. More...

template<bool tThreadSafe>
Indices32	objectPointIds (const Index32 poseId, Vectors3 *objectPoints=nullptr) const
	Returns all ids of object points which are visible in a specified frame. More...

template<bool tThreadSafe, bool tMatchPosition>
Indices32	objectPointIds (const Index32 poseId, const Vector3 &referencePosition, const Scalar minimalPriority=Scalar(-1), Vectors3 *objectPoints=nullptr) const
	Returns all ids of object points which are visible in a specified frame and which match or do not match a specified reference position. More...

template<bool tThreadSafe>
Indices32	objectPointIds (const Indices32 poseIds, Vectors3 *objectPoints=nullptr) const
	Returns all ids of object points which are visible in several specified frames. More...

template<bool tThreadSafe, bool tMatchPosition, bool tVisibleInAllPoses>
Indices32	objectPointIds (const Index32 lowerPoseId, const Index32 upperPoseId, const Vector3 &referencePosition=invalidObjectPoint(), const Scalar minimalPriority=Scalar(-1), Vectors3 *objectPoints=nullptr) const
	Returns all ids of object points which are visible in a specified frame range. More...

template<bool tThreadSafe, bool tMatchPosition, bool tVisibleInAllPoses>
Indices32	objectPointIds (const Indices32 &poseIds, const Vector3 &referencePosition=invalidObjectPoint(), const Scalar minimalPriority=Scalar(-1), Vectors3 *objectPoints=nullptr) const
	Returns all ids of object points which are visible in specified keyframes. More...

template<bool tThreadSafe>
Vectors2	imagePointsWithObjectPoints (const Index32 poseId, Indices32 &objectPointIds) const
	Returns all image points which are located in a specified frame and are projections of object points. More...

template<bool tThreadSafe>
Vectors2	imagePointsFromObjectPoints (const Index32 poseId, Indices32 &objectPointIds, Indices32 *imagePointIds=nullptr) const
	Returns all image points which are located in a specified frame and which are projections of a set of given object points. More...

template<bool tThreadSafe>
Vectors2	imagePointsFromObjectPoints (const Index32 poseId, const Indices32 &objectPointIds, Indices32 &validIndices, Indices32 *imagePointIds=nullptr) const
	Returns all image points which are located in a specified frame and which are projections of a set of given object points. More...

template<bool tThreadSafe>
Vectors2	imagePointsFromObjectPoints (const Index32 poseId, const Index32 objectPointIds, const size_t numberObjectPointIds, Indices32 &validIndices, Indices32 imagePointIds=nullptr) const
	Returns all image points which are located in a specified frame and which are projections of a set of given object points. More...

template<bool tThreadSafe>
ImagePointGroups	imagePointGroups (const Indices32 poseIds, Indices32 &objectPointIds) const
	Determines the groups of image points matching to unique object points in individual camera poses. More...

template<bool tThreadSafe>
IdIdPointPairsMap	imagePoints (const Index32 poseId, const bool previous, const size_t minimalObservations=2, const size_t maximalObservations=0) const
	Returns object points with corresponding image points entirely visible in a specific range of camera poses. More...

template<bool tThreadSafe>
void	imagePoints (const Index32 pose0, const Index32 pose1, Vectors2 &points0, Vectors2 &points1, Indices32 *objectPointIds=nullptr) const
	Determines the image points which are projections from the same object points and are visible in two individual camera poses. More...

template<bool tThreadSafe, bool tMatchPosition>
void	imagePointsObjectPoints (const Index32 poseId, Vectors2 &imagePoints, Vectors3 &objectPoints, const Vector3 &referencePosition=invalidObjectPoint(), const size_t minimalObservations=0, Indices32 imagePointIds=nullptr, Indices32 objectPointIds=nullptr) const
	Returns corresponding object points and image points for a given camera pose. More...

template<bool tThreadSafe, bool tMatchPosition>
void	imagePointsObjectPoints (const Index32 poseId, const IndexSet32 &priorityIds, Vectors2 &priorityImagePoints, Vectors3 &priorityObjectPoints, Vectors2 &remainingImagePoints, Vectors3 &remainingObjectPoints, const Vector3 &referencePosition=invalidObjectPoint(), const size_t minimalObservations=0, Indices32 priorityImagePointIds=nullptr, Indices32 priorityObjectPointIds=nullptr, Indices32 remainingImagePointIds=nullptr, Indices32 remainingObjectPointIds=nullptr) const
	Returns two groups of corresponding object points and image points for a given camera pose. More...

template<bool tThreadSafe, bool tMatchPose>
void	posesImagePoints (const Index32 objectPointId, HomogenousMatrices4 &poses, Vectors2 &imagePoints, const HomogenousMatrix4 &referencePose=HomogenousMatrix4(false), Indices32 poseIds=nullptr, Indices32 imagePointIds=nullptr, const Index32 lowerPoseId=invalidId, const Index32 upperPoseId=invalidId) const
	Returns corresponding poses and image points for a given object point from the entire range of possible camera poses. More...

template<bool tThreadSafe>
TopologyTriples	topologyTriples (const Indices32 &poseIds) const
	Returns topology triples with valid image points ids, object points ids and pose ids for a set of given pose ids. More...

template<bool tThreadSafe>
void	clear ()
	Clears the database including all camera poses, object points, image points and any topology. More...

template<bool tThreadSafe>
void	reset (const Vector3 &referenceObjectPoint=invalidObjectPoint(), const HomogenousMatrix4 &referencePose=HomogenousMatrix4(false))
	Resets the geometric information of this database for 3D object points and 6DOF camera poses. More...

template<typename T , bool tThreadSafe>
void	reset (const size_t numberPoses, const Index32 poseIds, const HomogenousMatrixT4< T > poses, const size_t numberObjectPoints, const Index32 objectPointIds, const VectorT3< T > objectPoints, const T objectPointPriorities, const size_t numberImagePoints, const Index32 imagePointIds, const VectorT2< T > imagePoints, const Index32 topologyPoseIds, const Index32 *topologyObjectPointIds)
	Resets this database with given poses, object points, image points, and topology. More...

Database &	operator= (const Database &database)
	Assign operator copying a second database to this database object. More...

Database &	operator= (Database &&database) noexcept
	Move operator moving a second database to this database object. More...

	operator bool () const
	Returns whether this database holds at least one image point, one object point or one camera pose. More...

Static Public Member Functions
static Vector3	invalidObjectPoint ()
	Returns an invalid object point. More...

static Indices32	filterTopologyTriplesPoses (const TopologyTriples &topologyTriples, const IndexSet32 &poseIds)
	Filters a set of given topology triples due to a set of given pose ids. More...

static Indices32	filterTopologyTriplesObjectPoints (const TopologyTriples &topologyTriples, const IndexSet32 &objectPointIds)
	Filters a set of given topology triples due to a set of given object point ids. More...

static Indices32	filterTopologyTriplesImagePoints (const TopologyTriples &topologyTriples, const IndexSet32 &imagePointIds)
	Filters a set of given topology triples due to a set of given image point ids. More...

static Indices32	reliableObjectPoints (const TopologyTriples &topologyTriples, const unsigned int minimalObservations)
	Determines reliable object points from a set of given topology triples (by determining all object points with a minimal number of observations). More...

static PoseImagePointTopologyGroups	objectPointTopology (const TopologyTriples &topologyTriples, const Indices32 *indices=nullptr)
	Converts the set of topology triples into a representation which is forced/oriented by object points so that the camera poses and image points can be accessed for a specific object points. More...

Static Public Attributes
static const Index32	invalidId = Index32(-1)
	Definition of an invalid id. More...

Protected Types
typedef std::map< Index32, PoseData >	PoseMap
	Definition of an (ordered) map mapping pose ids to pose data objects, we use an ordered map as poses have an order. More...

typedef std::unordered_map< Index32, ObjectPointData >	ObjectPointMap
	Definition of an (unordered) map mapping object point ids to object point data objects. More...

typedef std::unordered_map< Index32, ImagePointData >	ImagePointMap
	Definition of an (unordered) map mapping image point ids to image point data objects. More...

typedef std::unordered_map< Index32, Index32 >	Index32To32Map
	Definition of an (unordered) map mapping 32 bit ids to 32 bit ids. More...

typedef std::unordered_map< Index64, Index32 >	Index64To32Map
	Definition of an (unordered) map mapping 64 bit ids to 32 bit ids. More...

Protected Member Functions
template<bool tMatchPosition, bool tNeedValidPose>
void	numberCorrespondencesSubset (const Index32 lowerPoseId, const Vector3 referenceObjectPoint, const Scalar minimalPriority, unsigned int correspondences, const unsigned int firstPose, const unsigned int numberPoses) const
	Counts the number of valid correspondences between image and object points for a subset of several poses individually. More...

template<bool tMatchPosition>
void	objectPointIdsWithNumberOfObservationsSubset (const Index32 objectPointIds, const Vector3 referencePosition, const Scalar minimalPriority, IndexPairs32 pairs, Lock lock, const unsigned int firstObjectPoint, const unsigned int numberObjectPoints) const
	Returns pairs of object point ids combined with counts of valid observations. More...

unsigned int	numberValidPoses (const Index32 objectPointId, const IndexSet32 &imagePointIds) const
	Counts the number of valid poses of a given object point. More...

Static Protected Member Functions
static Index32	firstIndex (const Index64 index)
	Returns the first 32 bit index of a 64 bit index. More...

static Index32	secondIndex (const Index64 index)
	Returns the second 32 bit index of a 64 bit index. More...

static Index64	index64 (const Index32 first, const Index32 second)
	Returns the 64 bit index composed of two 32 bit indices. More...

Protected Attributes
PoseMap	databasePoseMap
	The map mapping unique pose ids to pose data instances. More...

ObjectPointMap	databaseObjectPointMap
	The map mapping unique object point ids to object point data instances. More...

ImagePointMap	databaseImagePointMap
	The map mapping unique image points ids to image point data instances. More...

Index64To32Map	databasePoseObjectPointMap
	The map mapping a pair of pose id and object point id to image point ids. More...

unsigned int	databasePoses
	The number of poses. More...

Index32	databaseObjectPointIdCounter
	The counter for unique object point ids. More...

Index32	databaseImagePointIdCounter
	The counter for unique image point ids. More...

Lock	databaseLock
	The lock for the entire database. More...

Detailed Description

This class implements a database for 3D object points, 2D image points and 6DOF camera poses.

Any 2D image point is located in a camera frame, while any camera frame has an own camera pose.
Corresponding image points in consecutive camera frames can belong to the same 3D object point.
This database stores ids for image points, object points, priority values of object points, camera poses and field of views of camera poses.
Further, the topology between the individual database elements can be defined.
The locations of the image points (2D positions within the camera frames) must be valid always.
The locations of the object points or the transformation values of the camera poses may be invalid as in this case the location of the transformation has not been determined yet.

An id of an image point has the following connections:

image point id  ->  2D point location (always valid)
                ->  camera pose id (the id of the camera pose in which frame the image point is located)
                ->  3D object point id (the id of the object point which projects to the image point)

Due to performance issues object points and camera poses store mappings to their corresponding image points.
An id of an object point has the following connections:

object point id  ->  3D point location (may be invalid)
                 ->  Priority value
                 ->  image point ids (the ids of all image points which are projections of the object points)

An id of a camera pose has the following connections:

camera pose id  ->  6DOF pose (may be invalid)
                ->  Field of View value
                ->  image point ids (the ids of all image points visible in the camera frame belonging to the camera pose)

Finally, the database stores a mapping between a pair of pose ids and object points ids and image points ids:

pose id, object point id  ->  image point id

The internal data structure of this database allows arbitrary element access with almost O(log n).
Due to the performance issue connections between the individual objects are necessary.

Member Typedef Documentation

◆ IdIdPointPairsMap

typedef std::map<Index32, IdPointPairs> Ocean::Tracking::Database::IdIdPointPairsMap

Definition of a map mapping ids to 2D image point id pairs.

◆ IdPointMap

typedef std::map<Index32, Vector2> Ocean::Tracking::Database::IdPointMap

Definition of a map mapping ids to 2D image point object.

◆ IdPointPair

typedef std::pair<Index32, Vector2> Ocean::Tracking::Database::IdPointPair

Definition of a pair of ids and 2D image points.

◆ IdPointPairs

typedef std::vector<IdPointPair> Ocean::Tracking::Database::IdPointPairs

Definition of a vector holding pairs of ids and 2D image points.

◆ ImagePointGroups

typedef std::vector<Vectors2> Ocean::Tracking::Database::ImagePointGroups

Definition of a vector holding 2D vectors.

◆ ImagePointMap

typedef std::unordered_map<Index32, ImagePointData> Ocean::Tracking::Database::ImagePointMap

protected

Definition of an (unordered) map mapping image point ids to image point data objects.

◆ ImagePointsMap

typedef std::map<Index32, Vectors2> Ocean::Tracking::Database::ImagePointsMap

Definition of a map mapping ids to 2D vectors.

◆ Index32To32Map

typedef std::unordered_map<Index32, Index32> Ocean::Tracking::Database::Index32To32Map

protected

Definition of an (unordered) map mapping 32 bit ids to 32 bit ids.

◆ Index64To32Map

typedef std::unordered_map<Index64, Index32> Ocean::Tracking::Database::Index64To32Map

protected

Definition of an (unordered) map mapping 64 bit ids to 32 bit ids.

◆ ObjectPointMap

typedef std::unordered_map<Index32, ObjectPointData> Ocean::Tracking::Database::ObjectPointMap

protected

Definition of an (unordered) map mapping object point ids to object point data objects.

◆ PoseImagePointTopology

typedef std::vector<PoseImagePointPair> Ocean::Tracking::Database::PoseImagePointTopology

Definition of a vector holding several pairs of pose and image point ids.

◆ PoseImagePointTopologyGroups

typedef std::vector< std::pair<Index32, PoseImagePointTopology> > Ocean::Tracking::Database::PoseImagePointTopologyGroups

Definition of a vector holding several groups of pairs of pose and image point ids.

◆ PoseMap

typedef std::map<Index32, PoseData> Ocean::Tracking::Database::PoseMap

protected

Definition of an (ordered) map mapping pose ids to pose data objects, we use an ordered map as poses have an order.

◆ TopologyTriples

typedef std::vector<TopologyTriple> Ocean::Tracking::Database::TopologyTriples

Definition of a vector holding object of topology triple.

Constructor & Destructor Documentation

◆ Database() [1/3]

Ocean::Tracking::Database::Database ( )

inline

Creates a new empty database object.

◆ Database() [2/3]

Ocean::Tracking::Database::Database ( const Database & database )

inline

Copy constructor.

Parameters

database The database object to be copied

◆ Database() [3/3]

Ocean::Tracking::Database::Database ( Database && database )

inlinenoexcept

Move constructor.

Parameters

database The database object to be moved

Member Function Documentation

◆ addImagePoint()

template<bool tThreadSafe>

Index32 Ocean::Tracking::Database::addImagePoint ( const Vector2 & imagePoint )

inline

Adds a new 2D image point to this database.

Parameters

imagePoint The image point to be added

Returns: The unique id of the new image point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ addObjectPoint() [1/2]

template<bool tThreadSafe>

void Ocean::Tracking::Database::addObjectPoint	(	const Index32	objectPointId,
		const Vector3 &	objectPoint,
		const Scalar	priority = `Scalar(-1)`
	)

inline

Adds a new 3D object point to this database.

This function does not use the internal id counter for object points to create a new id.
Instead, this function takes an explicit object point id.
Beware: Do not mix calls with the add-objectPoint-function creating the id on its own.

Parameters

objectPointId	The unique id of the new object point, must not exist already
objectPoint	The object point to be added
priority	The priority value of the object point

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: hasObjectPoint().

◆ addObjectPoint() [2/2]

template<bool tThreadSafe>

Index32 Ocean::Tracking::Database::addObjectPoint	(	const Vector3 &	objectPoint,
		const Scalar	priority = `Scalar(-1)`
	)

inline

Adds a new 3D object point to this database.

This function uses the internal id counter for object points to create a new id.
Beware: Do not mix calls with the add-objectPoint-function not creating the id on its own.

Parameters

objectPoint	The object point to be added
priority	The priority value of the object point

Returns: The unique id of the new object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ addObjectPointFromDatabase()

Index32 Ocean::Tracking::Database::addObjectPointFromDatabase	(	const Database &	secondDatabase,
		const Index32	secondDatabaseObjectPointId,
		const SquareMatrix3 &	imagePointTransformation = `SquareMatrix3(true)`,
		const Index32	newObjectPointId = `invalidId`,
		const Index32	secondDatabaseLowerPoseId = `invalidId`,
		const Index32	secondDatabaseUpperPoseId = `invalidId`,
		const bool	forExistingPosesOnly = `false`
	)

inline

Adds an object point from another database, adds all connected image points, registers unknown poses, and adds the topology.

Thus, this function mainly merges a track from a second database to this database. Beware: This function is not thread-safe (as we need to prevent possible dead locks).

Parameters

secondDatabase	The second database from which the track (the object point and all connected information) will be copied
secondDatabaseObjectPointId	The id of the object point in the second database to be copied
imagePointTransformation	A transformation which will be applied to each connected image point (from the second database) before the image point is added to this database, an identity transformation to keep the image points as they are, the transformation defines: thisDatabaseImagePoint = imagePointTransformation * secondDatabaseImagePoint, must not be singular
newObjectPointId	Optional explicit id of the new object point in this database, must not exist in this database if defined, an invalid id to generate a new id automatically
secondDatabaseLowerPoseId	Optional pose id defining the lower border of the pose range from which observations (image points) of the object point will be copied, an invalid id to copy all possible observations, with range [0, secondDatabaseUpperPoseId] or invalidId
secondDatabaseUpperPoseId	Optional pose id defining the upper border of the pose range from which observations (image points) of the object point will be copied, an invalid id to copy all possible observations, with range [secondDatabaseLowerPoseId, infinity) or invalidId
forExistingPosesOnly	True, to avoid the creation of new poses in this database (and to skip observations/image points); False, to create new poses in this database if not existing already

Returns: The id of the new object point in this database, an invalid id if the track could not be copied

◆ addPose()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::addPose	(	const Index32	poseId,
		const HomogenousMatrix4 &	pose = `HomogenousMatrix4(false)`
	)

inline

Adds a new camera pose by specifying the unique id of the new pose.

Beware: The given unique id must not exist in the database, define the pose id so that it matches to e.g., a unique frame index.

Parameters

poseId	The unique id of the new pose, must be valid
pose	The pose to be set, may be invalid

Returns: True, if the given pose id does not exist in the database

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ attachImagePointToObjectPoint()

template<bool tThreadSafe>

void Ocean::Tracking::Database::attachImagePointToObjectPoint	(	const Index32	imagePointId,
		const Index32	objectPointId
	)

inline

Attaches an existing image point to an existing object points (defines the topology between an image point and an object point).

Parameters

imagePointId	The id of the image point which will be attached to the specified object points, must be valid
objectPointId	The id of the object points which will receive the connection to the given image point, must be valid

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ attachImagePointToPose()

template<bool tThreadSafe>

void Ocean::Tracking::Database::attachImagePointToPose	(	const Index32	imagePointId,
		const Index32	poseId
	)

inline

Attaches an existing image point to an existing camera pose (defines the topology between an image point and a camera pose).

Parameters

imagePointId	The id of the image point which will be attached to the specified object points, must be valid
poseId	The id of the pose which will receive the connection to the given image point, must be valid

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ clear()

template<bool tThreadSafe>

void Ocean::Tracking::Database::clear

inline

Clears the database including all camera poses, object points, image points and any topology.

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ detachImagePointFromObjectPoint()

template<bool tThreadSafe>

void Ocean::Tracking::Database::detachImagePointFromObjectPoint ( const Index32 imagePointId )

inline

Detaches an image point from an object point (withdraws the topology).

Parameters

imagePointId the id of the image point from which the topology to the object point will be removed, must be valid

◆ detachImagePointFromPose()

template<bool tThreadSafe>

void Ocean::Tracking::Database::detachImagePointFromPose ( const Index32 imagePointId )

inline

Detaches an image point from a camera pose (withdraws the topology).

Parameters

imagePointId the id of the image point from which the topology to the camera pose will be removed, must be valid

◆ filterTopologyTriplesImagePoints()

Indices32 Ocean::Tracking::Database::filterTopologyTriplesImagePoints	(	const TopologyTriples &	topologyTriples,
		const IndexSet32 &	imagePointIds
	)

inlinestatic

Filters a set of given topology triples due to a set of given image point ids.

Parameters

topologyTriples	The set of topology triplies which will be filtered
imagePointIds	The ids of the image points defining which triples are returned (the indices respectively)

Returns: The indices of the topology triples which belong to one of the given image points

◆ filterTopologyTriplesObjectPoints()

Indices32 Ocean::Tracking::Database::filterTopologyTriplesObjectPoints	(	const TopologyTriples &	topologyTriples,
		const IndexSet32 &	objectPointIds
	)

inlinestatic

Filters a set of given topology triples due to a set of given object point ids.

Parameters

topologyTriples	The set of topology triplies which will be filtered
objectPointIds	The ids of the object points defining which triples are returned (the indices respectively)

Returns: The indices of the topology triples which belong to one of the given object points

◆ filterTopologyTriplesPoses()

Indices32 Ocean::Tracking::Database::filterTopologyTriplesPoses	(	const TopologyTriples &	topologyTriples,
		const IndexSet32 &	poseIds
	)

inlinestatic

Filters a set of given topology triples due to a set of given pose ids.

Parameters

topologyTriples	The set of topology triplies which will be filtered
poseIds	The ids of the camera pose defining which triples are returned (the indices respectively)

Returns: The indices of the topology triples which belong to one of the given camera poses

◆ firstIndex()

Index32 Ocean::Tracking::Database::firstIndex ( const Index64 index )

inlinestaticprotected

Returns the first 32 bit index of a 64 bit index.

Parameters

index The 64 bit index

Returns: First 32 bit index

◆ hasImagePoint()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::hasImagePoint	(	const Index32	imagePointId,
		Vector2 *	imagePoint = `nullptr`
	)		const

inline

Returns whether this database holds a specified image point.

Parameters

imagePointId	The unique id of the image point which will be checked
imagePoint	Optional resulting image point value of the defined image point id

Returns: True, if so

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ hasObjectPoint()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::hasObjectPoint	(	const Index32	objectPointId,
		Vector3 *	objectPoint = `nullptr`
	)		const

inline

Returns whether this database holds a specified object point.

Parameters

objectPointId	The unique id of the object point which will be checked
objectPoint	Optional resulting object point value of the defined object point id

Returns: True, if so

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ hasObservation()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::hasObservation	(	const Index32	poseId,
		const Index32	objectPointId,
		Vector2 *	point = `nullptr`,
		Index32 *	pointId = `nullptr`
	)		const

inline

Returns whether an object point is visible in a specified frame, and optional the location and id of the corresponding image point.

Parameters

poseId	The id of the camera pose for which the visibility of the object point is checked, must be valid
objectPointId	The unique id of the object point, must be valid
point	Optional resulting location of the image point, if any
pointId	Optional resulting unique id of the image point, if any

Returns: True, if the defined object point has a visible image point in the specified camera pose

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ hasPose()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::hasPose	(	const Index32	poseId,
		HomogenousMatrix4 *	pose = `nullptr`
	)		const

inline

Returns whether this database holds a specified camera pose.

Parameters

poseId	The unique id of the pose which will be checked
pose	Optional resulting pose value of the defined pose id

Returns: True, if so

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePoint()

template<bool tThreadSafe>

const Vector2 & Ocean::Tracking::Database::imagePoint ( const Index32 imagePointId ) const

inline

Returns the location of an image point which is specified by the id of the image point.

Beware: The requested image point must exist in this database.

Parameters

imagePointId The unique id of the image point, must be valid

Returns: The location of the specified image point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePointGroups()

template<bool tThreadSafe>

Database::ImagePointGroups Ocean::Tracking::Database::imagePointGroups	(	const Indices32	poseIds,
		Indices32 &	objectPointIds
	)		const

Determines the groups of image points matching to unique object points in individual camera poses.

Image points within one group correspond to one object point while the order of the image points correspond with the order of the given camera poses.

Parameters

poseIds	The ids of the camera pose in which the object points are visible which form the groups of image points.
objectPointIds	Resulting ids of object points which are visible in all camera pose and to which the resulting groups of image points correspond

Returns: Resulting groups of image points one group for each resulting object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePointIds() [1/3]

template<bool tThreadSafe>

const IndexSet32 & Ocean::Tracking::Database::imagePointIds ( const Index32 poseId ) const

Returns the ids of all image points visible in a specified camera pose (camera frame).

Parameters

poseId The id of the camera pose in which the image points are visible, must be valid

Returns: The indices of all image points

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePointIds() [2/3]

template<bool tThreadSafe>

Indices32 Ocean::Tracking::Database::imagePointIds	(	const Index32	poseId,
		Indices32 &	objectPointIds
	)		const

inline

Returns the ids of all image points which are projections of a set of object point in a specific camera frame.

Parameters

poseId	The id of the camera pose in which the image points will be located
objectPointIds	The ids of the object points for which the image points are requested, this set will be modified so that the set finally contains only object points which have a connected image point (in the specified frame)

Returns: The resulting ids of the image points, one ids for each object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePointIds() [3/3]

template<bool tThreadSafe>

Indices32 Ocean::Tracking::Database::imagePointIds ( Vectors2 * imagePoints = nullptr ) const

Returns the ids of all image points that are part of this database.

Parameters

imagePoints Optional resulting image points, one for each resulting image point id, nullptr if not of interest

Returns: The image point ids

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePointNumber()

template<bool tThreadSafe>

size_t Ocean::Tracking::Database::imagePointNumber

inline

Returns the number of image point ids in this database.

Returns: The database's image point id number

◆ imagePoints() [1/5]

template<bool tThreadSafe>

void Ocean::Tracking::Database::imagePoints	(	const Index32	pose0,
		const Index32	pose1,
		Vectors2 &	points0,
		Vectors2 &	points1,
		Indices32 *	objectPointIds = `nullptr`
	)		const

Determines the image points which are projections from the same object points and are visible in two individual camera poses.

Parameters

pose0	The id of the first camera pose, must be valid
pose1	The id of the second camera pose, must be valid and must not be 'pose0'
points0	The resulting image points visible in the first camera pose
points1	The resulting image points visible in the second camera pose, each point corresponds to one point from 'points0'
objectPointIds	Optional resulting ids of the object points which are visible in both camera poses

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePoints() [2/5]

template<bool tThreadSafe>

Database::IdIdPointPairsMap Ocean::Tracking::Database::imagePoints	(	const Index32	poseId,
		const bool	previous,
		const size_t	minimalObservations = `2`,
		const size_t	maximalObservations = `0`
	)		const

Returns object points with corresponding image points entirely visible in a specific range of camera poses.

Parameters

poseId	The id of the camera pose which is the start position of the range of camera poses
previous	True, if the range covers the previous camera poses; False, if the range covers the subsequent camera poses
minimalObservations	The minimal number of successive camera poses in which an object point must be visible
maximalObservations	Optional the maximal number of successive camera poses (more poses will not be investigated), 0 or with range [minimalObservations, infinity)

Returns: The map mapping object points to image points

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePoints() [3/5]

template<bool tThreadSafe>

Vectors2 Ocean::Tracking::Database::imagePoints	(	const Index32	poseId,
		Indices32 *	imagePointIds = `nullptr`
	)		const

Returns all image points which are located in a specified frame.

Parameters

poseId	The id of the camera pose in which frame the image points are requested
imagePointIds	Optional resulting ids of the resulting image points one id for each point

Returns: All image points located in the specified frame

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePoints() [4/5]

template<bool tThreadSafe>

Vectors2 Ocean::Tracking::Database::imagePoints ( const IndexSet32 & imagePointIds ) const

inline

Returns the positions of 2D image points specified by the ids of the image points.

Parameters

imagePointIds The ids of the image points for which the positions will be returned, must be valid

Returns: The resulting image point positions, one position for each id

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePoints() [5/5]

template<bool tThreadSafe>

Vectors2 Ocean::Tracking::Database::imagePoints ( const Indices32 & imagePointIds ) const

inline

Returns the positions of 2D image points specified by the ids of the image points.

Parameters

imagePointIds The ids of the image points for which the positions will be returned, must be valid

Returns: The resulting image point positions, one position for each id

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePointsFromObjectPoint()

template<bool tThreadSafe>

const IndexSet32 & Ocean::Tracking::Database::imagePointsFromObjectPoint ( const Index32 objectPointId ) const

inline

Returns all image points which belong to a given object point.

Beware: The resulting reference is valid as long as the database is not modified.

Parameters

objectPointId The id of the object point for which the connected image points are requested, must be valid

Returns: The ids of all image points which are connected with the specified object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePointsFromObjectPoints() [1/3]

template<bool tThreadSafe>

Vectors2 Ocean::Tracking::Database::imagePointsFromObjectPoints	(	const Index32	poseId,
		const Index32 *	objectPointIds,
		const size_t	numberObjectPointIds,
		Indices32 &	validIndices,
		Indices32 *	imagePointIds = `nullptr`
	)		const

Returns all image points which are located in a specified frame and which are projections of a set of given object points.

As not all object points may be visible in the specified frame, the number of resulting image points may be smaller than the number of specified object points.
The set of specified object points is untouched, however a resulting set of indices return the indices of valid object points (indices as specified in the set of object points).

Parameters

poseId	The id of the camera pose in which frame the image points are requested
objectPointIds	The ids of the object points for which the corresponding image points are requested
numberObjectPointIds	The number of given object point ids
validIndices	The indices of valid object points, !not! the ids of valid object points
imagePointIds	Optional resulting image point ids of the resulting image points

Returns: The image points which are visible projections of the specified object points, the number of image points is equal to the resulting set of indices of valid object points

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePointsFromObjectPoints() [2/3]

template<bool tThreadSafe>

Vectors2 Ocean::Tracking::Database::imagePointsFromObjectPoints	(	const Index32	poseId,
		const Indices32 &	objectPointIds,
		Indices32 &	validIndices,
		Indices32 *	imagePointIds = `nullptr`
	)		const

Returns all image points which are located in a specified frame and which are projections of a set of given object points.

As not all object points may be visible in the specified frame, the number of resulting image points may be smaller than the number of specified object points.
The set of specified object points is untouched, however a resulting set of indices return the indices of valid object points (indices as specified in the set of object points).

Parameters

poseId	The id of the camera pose in which frame the image points are requested
objectPointIds	The ids of the object points for which the corresponding image points are requested
validIndices	The indices of valid object points, !not! the ids of valid object points
imagePointIds	Optional resulting image point ids of the resulting image points

Returns: The image points which are visible projections of the specified object points, the number of image points is equal to the resulting set of indices of valid object points

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePointsFromObjectPoints() [3/3]

template<bool tThreadSafe>

Vectors2 Ocean::Tracking::Database::imagePointsFromObjectPoints	(	const Index32	poseId,
		Indices32 &	objectPointIds,
		Indices32 *	imagePointIds = `nullptr`
	)		const

Returns all image points which are located in a specified frame and which are projections of a set of given object points.

As not all object points may be visible in the specified frame, the set of given object points will be modified so that set contains only visible object points after calling this function.

Parameters

poseId	The id of the camera pose in which frame the image points are requested
objectPointIds	The ids of the object points for which the corresponding image points are requested
imagePointIds	Optional resulting image point ids of the resulting image points

Returns: The resulting image points located in the specified frame

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: imagePointsWithObjectPoints().

◆ imagePointsFromPose()

template<bool tThreadSafe>

const IndexSet32 & Ocean::Tracking::Database::imagePointsFromPose ( const Index32 poseId ) const

inline

Returns all image points which belong to a given camera pose.

Beware: The resulting reference is valid as long as the database is not modified.

Parameters

poseId The id of the camera pose for which the connected image points are requested, must be valid

Returns: The ids of all image points which are connected with the specified camera pose

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ imagePointsObjectPoints() [1/2]

template<bool tThreadSafe, bool tMatchPosition>

void Ocean::Tracking::Database::imagePointsObjectPoints	(	const Index32	poseId,
		const IndexSet32 &	priorityIds,
		Vectors2 &	priorityImagePoints,
		Vectors3 &	priorityObjectPoints,
		Vectors2 &	remainingImagePoints,
		Vectors3 &	remainingObjectPoints,
		const Vector3 &	referencePosition = `invalidObjectPoint()`,
		const size_t	minimalObservations = `0`,
		Indices32 *	priorityImagePointIds = `nullptr`,
		Indices32 *	priorityObjectPointIds = `nullptr`,
		Indices32 *	remainingImagePointIds = `nullptr`,
		Indices32 *	remainingObjectPointIds = `nullptr`
	)		const

Returns two groups of corresponding object points and image points for a given camera pose.

The first group of correspondences have object points from the given set of priority object points The second group of correspondences have object points not given in the set of priority object points

Parameters

poseId	The id of the camera pose for which the object and image points are requested
priorityIds	The ids of the object points which will belong to the group of priority correspondences
priorityImagePoints	The resulting image points located in the specified camera pose belonging to the priority group
priorityObjectPoints	The resulting object points belonging to the priority group, each point corresponds to one image points from 'imagePoints'
remainingImagePoints	The resulting image points located in the specified camera pose belonging to the remaining group
remainingObjectPoints	The resulting object points belonging to the remaining group, each point corresponds to one image points from 'imagePoints'
referencePosition	The 3D reference position which is used to filter the object points
minimalObservations	The minimal number of observations a resulting object points must have (in arbitrary sibling camera pose)
priorityImagePointIds	Optional ids of the resulting image points belonging to the priority group
priorityObjectPointIds	Optional ids of the resulting object points belonging to the priority group
remainingImagePointIds	Optional ids of the resulting image points belonging to the remaining group
remainingObjectPointIds	Optional ids of the resulting object points belonging to the remaining group

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the resulting object points; False, if the defined position will not match the positions of the resulting object points

◆ imagePointsObjectPoints() [2/2]

template<bool tThreadSafe, bool tMatchPosition>

void Ocean::Tracking::Database::imagePointsObjectPoints	(	const Index32	poseId,
		Vectors2 &	imagePoints,
		Vectors3 &	objectPoints,
		const Vector3 &	referencePosition = `invalidObjectPoint()`,
		const size_t	minimalObservations = `0`,
		Indices32 *	imagePointIds = `nullptr`,
		Indices32 *	objectPointIds = `nullptr`
	)		const

Returns corresponding object points and image points for a given camera pose.

Parameters

poseId	The id of the camera pose for which the object and image points are requested
imagePoints	The resulting image points located in the specified camera pose
objectPoints	The resulting object points, each point corresponds to one image points from 'imagePoints'
referencePosition	The 3D reference position which is used to filter the object points
minimalObservations	The minimal number of observations a resulting object points must have (in arbitrary sibling camera pose)
imagePointIds	Optional ids of the resulting image points
objectPointIds	Optional ids of the resulting object points

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the resulting object points; False, if the defined position will not match the positions of the resulting object points

◆ imagePointsWithObjectPoints()

template<bool tThreadSafe>

Vectors2 Ocean::Tracking::Database::imagePointsWithObjectPoints	(	const Index32	poseId,
		Indices32 &	objectPointIds
	)		const

Returns all image points which are located in a specified frame and are projections of object points.

Parameters

poseId	The id of the camera pose in which frame the image points are requested
objectPointIds	Resulting object point ids corresponding to the individual image points

Returns: The resulting image points located in the specified frame and having a corresponding object point

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: imagePointsFromObjectPoints().

◆ index64()

Index64 Ocean::Tracking::Database::index64	(	const Index32	first,
		const Index32	second
	)

inlinestaticprotected

Returns the 64 bit index composed of two 32 bit indices.

Parameters

first	The first 32 bit index
second	The second 32 bit index

Returns: The resulting 64 bit index

◆ invalidObjectPoint()

Vector3 Ocean::Tracking::Database::invalidObjectPoint ( )

inlinestatic

Returns an invalid object point.

Returns: Invalid object point

◆ isEmpty()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::isEmpty

inline

Returns whether this database holds at least one image point, one object point or one camera pose.

Returns: True, if so

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ largestValidPoseRange()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::largestValidPoseRange	(	const Index32	lowerPoseId,
		const Index32	upperPoseId,
		Index32 &	rangeLowerPoseId,
		Index32 &	rangeUpperPoseId
	)		const

inline

Determines the largest pose id range for which the database holds valid poses.

Parameters

lowerPoseId	The id of the frame defining the lower border of the camera poses which will be investigated, with range [0, infinity)
upperPoseId	The id of the frame defining the upper border of the camera poses which will be investigated, with range [lowerPoseId, infinity)
rangeLowerPoseId	Resulting id of the first camera pose/camera frame with valid camera pose, with range [lowerPoseId, upperPoseId]
rangeUpperPoseId	Resulting id of the last camera pose/camera frame with valid camera pose, with range [rangeLowerPoseId, upperPoseId]

Returns: True, if the resulting range holds at least one valid pose

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: validPoseRange(), poseBorders().

◆ lock()

Lock & Ocean::Tracking::Database::lock ( )

inline

Returns a reference to the lock object of this database object.

Returns: The lock object's reference

◆ mergeObjectPoints()

template<bool tThreadSafe>

void Ocean::Tracking::Database::mergeObjectPoints	(	const Index32	remainingObjectPointId,
		const Index32	removingObjectPointId,
		const Vector3 &	newPoint,
		const Scalar	newPriority
	)

inline

Merges two object points together, afterwards one object point will be removed.

Both object points must not be visible in the same camera pose.

Parameters

remainingObjectPointId	The id of the object point which will remain after merging both object points, must be valid
removingObjectPointId	The id of the object point which will be removed after merging both object points, must be valid
newPoint	The location of the merged object point
newPriority	The priority of the merged object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ numberCorrespondences() [1/2]

template<bool tThreadSafe, bool tMatchPosition, bool tNeedValidPose>

Indices32 Ocean::Tracking::Database::numberCorrespondences	(	const Index32	lowerPoseId,
		const Index32	upperPoseId,
		const Vector3 &	referenceObjectPoint,
		const Scalar	minimalPriority = `Scalar(-1)`,
		Worker *	worker = `nullptr`
	)		const

inline

Counts the number of valid correspondences between image and object points for several poses individually.

Parameters

lowerPoseId	The id (index) of the frame defining the lower border of camera poses which will be investigated
upperPoseId	The id (index) of the frame defining the upper border of camera poses which will be investigated, with range [lowerFrame, infinity)
referenceObjectPoint	A reference object point allowing to filter the correspondences to count
minimalPriority	The minimal priority value an object point must have so that is will be investigated
worker	Optional worker to distribute the computation

Returns: The number of correspondences for each pose in the range [lowerPoseId, upperPoseId] starting with 'lowerPoseId' (the first entry corresponds to 'lowerPoseId' and so on)

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the correspondences; False, if the defined position will not match the positions of the correspondences
tNeedValidPose	True, if the pose must be valid so that the number of valid correspondences will be determined, otherwise the number of correspondences will be zero

◆ numberCorrespondences() [2/2]

template<bool tThreadSafe, bool tMatchPosition, bool tNeedValidPose>

unsigned int Ocean::Tracking::Database::numberCorrespondences	(	const Index32	poseId,
		const Vector3 &	referenceObjectPoint,
		const Scalar	minimalPriority = `Scalar(-1)`
	)		const

inline

Counts the number of correspondences (e.g., valid or invalid) between image and object points for a specified pose.

Parameters

poseId	The id of the pose for which the number of point correspondences is determined
referenceObjectPoint	A reference object point allowing to filter the correspondences to count
minimalPriority	The minimal priority value an object point must have so that is will be investigated

Returns: The resulting number of correspondences

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the correspondences; False, if the defined position will not match the positions of the correspondences
tNeedValidPose	True, if the pose must be valid so that the number of valid correspondences will be determined, otherwise the number of correspondences will be zero

◆ numberCorrespondencesSubset()

template<bool tMatchPosition, bool tNeedValidPose>

void Ocean::Tracking::Database::numberCorrespondencesSubset	(	const Index32	lowerPoseId,
		const Vector3 *	referenceObjectPoint,
		const Scalar	minimalPriority,
		unsigned int *	correspondences,
		const unsigned int	firstPose,
		const unsigned int	numberPoses
	)		const

inlineprotected

Counts the number of valid correspondences between image and object points for a subset of several poses individually.

Parameters

lowerPoseId	The id (index) of the frame defining the lower border of camera poses which will be investigated
referenceObjectPoint	A reference object point allowing to filter the correspondences to count
minimalPriority	The minimal priority value an object point must have so that is will be investigated
correspondences	The resulting correspondences, one for each frame, starting with 'lowerPoseId' (the first entry corresponds to 'lowerPoseId' and so on)
firstPose	The index (not the id) of the first pose to handle
numberPoses	The number of poses to handle

Template Parameters

tMatchPosition	True, if the defined position will match the positions of the correspondences; False, if the defined position will not match the positions of the correspondences
tNeedValidPose	True, if the pose must be valid so that the number of valid correspondences will be determined, otherwise the number of correspondences will be zero

◆ numberImagePointsFromObjectPoint()

template<bool tThreadSafe>

size_t Ocean::Tracking::Database::numberImagePointsFromObjectPoint ( const Index32 objectPointId ) const

inline

Returns the number of image point observations which belong to a given object point.

Parameters

objectPointId The id of the object point for which the number of observations are requested, must be valid

Returns: The number of image point observations of the given object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ numberObservations()

template<bool tThreadSafe>

unsigned int Ocean::Tracking::Database::numberObservations	(	const Index32	poseId,
		const Indices32 &	objectPointIds
	)		const

inline

Counts the number of observations of a given set of object point ids for a specific camera frame.

Parameters

poseId	The id of the pose for which the number of visible object points is determined
objectPointIds	the ids of the object point for which the number of observations is determined

Returns: The number of object points (from the given set of object points) which are visible in the defined pose

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ numberValidPoses()

unsigned int Ocean::Tracking::Database::numberValidPoses	(	const Index32	objectPointId,
		const IndexSet32 &	imagePointIds
	)		const

inlineprotected

Counts the number of valid poses of a given object point.

Parameters

objectPointId	The id of the object point for which the number of valid poses is determined
imagePointIds	The ids of the image points which are the projections of the defined object point (must be extracted from the ObjectPointData object of the given object point)

Returns: The number of valid camera poses

◆ objectPoint() [1/2]

template<bool tThreadSafe>

const Vector3 & Ocean::Tracking::Database::objectPoint ( const Index32 objectPointId ) const

inline

Returns the location of an object point which is specified by the id of the object point.

Beware: The requested object point must exist in this database.

Parameters

objectPointId The unique id of the object point, must be valid

Returns: The location of the specified object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ objectPoint() [2/2]

template<bool tThreadSafe>

const Vector3 & Ocean::Tracking::Database::objectPoint	(	const Index32	objectPointId,
		Scalar &	objectPointPriority
	)		const

inline

Returns the location and priority of an object point which is specified by the id of the object point.

Beware: The requested object point must exist in this database.

Parameters

objectPointId	The unique id of the object point, must be valid
objectPointPriority	The resulting priority of the specified object point

Returns: The location of the specified object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ objectPointFromImagePoint()

template<bool tThreadSafe>

Index32 Ocean::Tracking::Database::objectPointFromImagePoint ( const Index32 imagePointId ) const

inline

Returns the object point which belongs to a given image point.

Each image point can be the projection of at most one unique object point.
Beware: The specified image point may not be connected to an object point, in this case the resulting id is an invalid id.

Parameters

imagePointId The id of the image point for which the corresponding object point is requested

Returns: The id of the corresponding object point, may be invalid

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ objectPointIds() [1/9]

template<bool tThreadSafe, bool tMatchPosition, bool tVisibleInAllPoses>

Indices32 Ocean::Tracking::Database::objectPointIds	(	const Index32	lowerPoseId,
		const Index32	upperPoseId,
		const Vector3 &	referencePosition = `invalidObjectPoint()`,
		const Scalar	minimalPriority = `Scalar(-1)`,
		Vectors3 *	objectPoints = `nullptr`
	)		const

Returns all ids of object points which are visible in a specified frame range.

The function allows to determine object points which are visible in all frames of the specified frame range or in any of the frames.

Parameters

lowerPoseId	Pose id defining the lower pose id border of all poses which will be investigated
upperPoseId	Pose id defining the lower pose id border of all poses which will be investigated, with range [lowerPoseId, infinity)
referencePosition	The 3D reference position which is used to filter the object points
minimalPriority	The minimal priority value an object point must have so that it will be investigated
objectPoints	Optional resulting positions of the resulting object point ids

Returns: All object point ids visible in the specified frames

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the resulting object points; False, if the defined position will not match the positions of the resulting object points
tVisibleInAllPoses	True, if the object points must be visible in all poses (frames) of the specified pose range; False, if the object point can be visible in any poses (frames) within the specified pose range

◆ objectPointIds() [2/9]

template<bool tThreadSafe, bool tMatchPosition>

Indices32 Ocean::Tracking::Database::objectPointIds	(	const Index32	poseId,
		const Vector3 &	referencePosition,
		const Scalar	minimalPriority = `Scalar(-1)`,
		Vectors3 *	objectPoints = `nullptr`
	)		const

Returns all ids of object points which are visible in a specified frame and which match or do not match a specified reference position.

Parameters

poseId	The id of the camera pose in which frame the object points are visible
referencePosition	The 3D reference position which is used to filter the object points
minimalPriority	The minimal priority value an object point must have so that it will be investigated
objectPoints	Optional resulting positions of the resulting object point ids

Returns: All object point ids visible in the specified frame

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the resulting object points; False, if the defined position will not match the positions of the resulting object points

◆ objectPointIds() [3/9]

template<bool tThreadSafe>

Indices32 Ocean::Tracking::Database::objectPointIds	(	const Index32	poseId,
		Vectors3 *	objectPoints = `nullptr`
	)		const

Returns all ids of object points which are visible in a specified frame.

Parameters

poseId	The id of the camera pose in which frame the object points are visible
objectPoints	Optional resulting positions of the resulting object point ids

Returns: All object point ids visible in the specified frame

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ objectPointIds() [4/9]

template<bool tThreadSafe>

Indices32 Ocean::Tracking::Database::objectPointIds ( const IndexSet32 & outlierObjectPointIds ) const

Returns the ids of all object points that are part of this database and which are not provided by the explicit set of outlier object point ids.

Parameters

outlierObjectPointIds The ids of all object points which will not be returned

Returns: The object point ids

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ objectPointIds() [5/9]

template<bool tThreadSafe, bool tMatchPosition>

Indices32 Ocean::Tracking::Database::objectPointIds	(	const IndexSet32 &	outlierObjectPointIds,
		const Vector3 &	referencePosition,
		Vectors3 *	objectPoints = `nullptr`,
		const Scalar	minimalPriority = `Scalar(-1)`
	)		const

Returns the ids of all object points with a specific location and having a priority value larger or equal to a given threshold as long as the object point is not defined in the explicit set of outlier object point ids.

Parameters

outlierObjectPointIds	The ids of all object points which will not be returned
referencePosition	A 3D point value allowing to filter the resulting object point ids
objectPoints	Optional resulting object point positions, one position for each resulting id
minimalPriority	The minimal priority value an object point must have to that it will be returned (if it matches the reference position)

Returns: The object point ids

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the resulting object points; False, if the defined position will not match the positions of the resulting object points

◆ objectPointIds() [6/9]

template<bool tThreadSafe, bool tMatchPosition, bool tVisibleInAllPoses>

Indices32 Ocean::Tracking::Database::objectPointIds	(	const Indices32 &	poseIds,
		const Vector3 &	referencePosition = `invalidObjectPoint()`,
		const Scalar	minimalPriority = `Scalar(-1)`,
		Vectors3 *	objectPoints = `nullptr`
	)		const

Returns all ids of object points which are visible in specified keyframes.

The function allows to determine object points which are visible in all keyframes or in any of the keyframes.

Parameters

poseIds	The ids of the keyframes which will be investigated
referencePosition	The 3D reference position which is used to filter the object points
minimalPriority	The minimal priority value an object point must have so that it will be investigated
objectPoints	Optional resulting positions of the resulting object point ids

Returns: All object point ids visible in the specified frames

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the resulting object points; False, if the defined position will not match the positions of the resulting object points
tVisibleInAllPoses	True, if the object points must be visible in all poses (frames) of the specified pose range; False, if the object point can be visible in any poses (frames) within the specified pose range

◆ objectPointIds() [7/9]

template<bool tThreadSafe>

Indices32 Ocean::Tracking::Database::objectPointIds	(	const Indices32	poseIds,
		Vectors3 *	objectPoints = `nullptr`
	)		const

Returns all ids of object points which are visible in several specified frames.

Parameters

poseIds	The ids of the camera poses in which frame the object points are visible
objectPoints	Optional resulting positions of the resulting object point ids

Returns: All object point ids visible in the specified frames

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ objectPointIds() [8/9]

template<bool tThreadSafe, bool tMatchPosition>

Indices32 Ocean::Tracking::Database::objectPointIds	(	const Vector3 &	referencePosition,
		Vectors3 *	objectPoints = `nullptr`,
		const Scalar	minimalPriority = `Scalar(-1)`
	)		const

Returns all object points with a specific location and priority value larger or equal to a given threshold.

Parameters

referencePosition	A 3D point value allowing to filter the resulting object point ids
objectPoints	Optional resulting object point positions, one position for each resulting id
minimalPriority	The minimal priority value an object point must have to that it will be returned (if it matches the reference position)

Returns: The ids of all object points that have the given position

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the resulting object points; False, if the defined position will not match the positions of the resulting object points

See also: objectPoints().

◆ objectPointIds() [9/9]

template<bool tThreadSafe>

Indices32 Ocean::Tracking::Database::objectPointIds	(	Vectors3 *	objectPoints = `nullptr`,
		Scalars *	priorities = `nullptr`
	)		const

Returns the ids of all object points that are part of this database.

Parameters

objectPoints	Optional resulting object points, one for each resulting object point id, nullptr if not of interest
priorities	Optional resulting object point priorities, one for each resulting object point id, nullptr if not of interest

Returns: The object point ids

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ objectPointIdsWithNumberOfObservations()

template<bool tThreadSafe, bool tMatchPosition>

IndexPairs32 Ocean::Tracking::Database::objectPointIdsWithNumberOfObservations	(	const Vector3 &	referencePosition,
		const Scalar	minimalPriority = `Scalar(-1)`,
		Worker *	worker = `nullptr`
	)		const

inline

Returns pairs of object point ids combined with counts of valid observations.

The ids are id of object points which have a specified 3D position or which do not have a specified 3D position.

Parameters

referencePosition	The 3D reference position which is used to filter the object points
minimalPriority	The minimal priority value an object point must have to be identified as candidate
worker	Optional worker object to distribute the computation

Returns: Pairs of object point ids and numbers of valid camera poses for the individual object points

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the resulting object points; False, if the defined position will not match the positions of the resulting object points

◆ objectPointIdsWithNumberOfObservationsSubset()

template<bool tMatchPosition>

void Ocean::Tracking::Database::objectPointIdsWithNumberOfObservationsSubset	(	const Index32 *	objectPointIds,
		const Vector3 *	referencePosition,
		const Scalar	minimalPriority,
		IndexPairs32 *	pairs,
		Lock *	lock,
		const unsigned int	firstObjectPoint,
		const unsigned int	numberObjectPoints
	)		const

protected

Returns pairs of object point ids combined with counts of valid observations.

Parameters

objectPointIds	The ids of the object points for which the number of observations is determined
referencePosition	The 3D position of the object points to find or to avoid (e.g., may be an invalid position to identify all invalid object points)
minimalPriority	The minimal priority value an object point must have to be identified as candidate
pairs	The resulting pairs of object point ids and numbers of valid camera poses for the individual object points
lock	Optional lock object, must be defined if the function is executed on several threads in parallel
firstObjectPoint	The first object point to be handled
numberObjectPoints	The number of object points to be handled

Template Parameters

tMatchPosition True, if the defined position will match the positions of the resulting object points; False, if the defined position will not match the positions of the resulting object points

See also: objectPointIdsWithNumberOfObservations().

◆ objectPointNumber()

template<bool tThreadSafe>

size_t Ocean::Tracking::Database::objectPointNumber

inline

Returns the number of object point ids in this database.

Returns: The database's object point id number

◆ objectPointPriority()

template<bool tThreadSafe>

Scalar Ocean::Tracking::Database::objectPointPriority ( const Index32 objectPointId ) const

inline

Returns the priority of an object point which is specified by the id of the object point.

Beware: The requested object point must exist in this database.

Parameters

objectPointId The unique id of the object point, must be valid

Returns: The priority of the specified object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ objectPoints() [1/3]

template<bool tThreadSafe>

Vectors3 Ocean::Tracking::Database::objectPoints

inline

Returns the positions of all 3D object points.

Returns: The resulting object point positions

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ objectPoints() [2/3]

template<bool tThreadSafe>

Vectors3 Ocean::Tracking::Database::objectPoints ( const Indices32 & objectPointIds ) const

inline

Returns the positions of 3D object points specified by the ids of the object points.

Parameters

objectPointIds The ids of the object points for which the positions will be returned, must be valid

Returns: The resulting object point positions, one position for each id

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ objectPoints() [3/3]

template<bool tThreadSafe, bool tMatchPosition>

Vectors3 Ocean::Tracking::Database::objectPoints	(	const Vector3 &	referencePosition,
		Indices32 *	objectPointIds = `nullptr`,
		const Scalar	minimalPriority = `Scalar(-1)`
	)		const

inline

Returns the positions of all 3D object points that match or that do not match the position of a specified reference object point and which have a specified minimal priority value.

Returns: The resulting object point positions

Parameters

referencePosition	An object point position which is used to filter the resulting object points
objectPointIds	Optional resulting ids of the resulting valid object points, on id for each object point
minimalPriority	The minimal priority value an object points must have to be returned

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined reference position will match the positions of the resulting object points; False, if the defined reference position will not match the positions of the resulting object points

See also: objectPointIds().

◆ objectPointTopology()

static PoseImagePointTopologyGroups Ocean::Tracking::Database::objectPointTopology	(	const TopologyTriples &	topologyTriples,
		const Indices32 *	indices = `nullptr`
	)

static

Converts the set of topology triples into a representation which is forced/oriented by object points so that the camera poses and image points can be accessed for a specific object points.

Parameters

topologyTriples	The set of topology triples which will be converted
indices	Optional subset of the given topology, the indices of the topology triples that will be added to the resulting (object point forced) data structure, nullptr to use all triples

Returns: The object point forced data structure of the given topology triples

◆ observationsFromObjectPoint() [1/2]

template<bool tThreadSafe>

void Ocean::Tracking::Database::observationsFromObjectPoint	(	const Index32	objectPointId,
		const Indices32 &	poseIdCandidates,
		Indices32 &	validPoseIndices,
		Indices32 *	imagePointIds,
		Vectors2 *	imagePoints = `nullptr`
	)		const

inline

Returns all observations (combination of poses and image points) which belong to a given object point and a set of pose candidates.

Parameters

objectPointId	The id of the object point for which the connected observations are requested, must be valid
poseIdCandidates	The candidates of pose ids for which the observation will be checked
validPoseIndices	The resulting indices of the valid pose candidates
imagePointIds	Optional resulting ids of the image points for which a valid observation exists, one id for each valid pose
imagePoints	Optional resulting image points, one point for each image point id

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ observationsFromObjectPoint() [2/2]

template<bool tThreadSafe>

void Ocean::Tracking::Database::observationsFromObjectPoint	(	const Index32	objectPointId,
		Indices32 &	poseIds,
		Indices32 &	imagePointIds,
		Vectors2 *	imagePoints = `nullptr`
	)		const

inline

Returns all observations (combination of poses and image points) which belong to a given object point.

Parameters

objectPointId	The id of the object point for which the connected observations are requested, must be valid
poseIds	The resulting ids of the poses of the observations
imagePointIds	The resulting ids of the image points of the observations, one id for each pose
imagePoints	Optional resulting image points, one point for each image point id

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ operator bool()

Ocean::Tracking::Database::operator bool ( ) const

inlineexplicit

Returns whether this database holds at least one image point, one object point or one camera pose.

Returns: True, if so

◆ operator=() [1/2]

Database & Ocean::Tracking::Database::operator= ( const Database & database )

inline

Assign operator copying a second database to this database object.

Parameters

database The database object to be copied

Returns: Reference to this object

◆ operator=() [2/2]

Database & Ocean::Tracking::Database::operator= ( Database && database )

inlinenoexcept

Move operator moving a second database to this database object.

Parameters

database The database object to be moved

Returns: Reference to this object

◆ pose()

template<bool tThreadSafe>

const HomogenousMatrix4 & Ocean::Tracking::Database::pose ( const Index32 poseId ) const

inline

Returns the 6DOF pose of a camera frame which is specified by the id of the pose.

Beware: The requested pose must exist in this database.

Parameters

poseId The unique id of the pose, must be valid

Returns: The specified pose

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: poses().

◆ poseBorders()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::poseBorders	(	Index32 &	lowerPoseId,
		Index32 &	upperPoseId
	)		const

inline

Returns the smallest id (the id of the lower frame border) and the largest id (the id of the upper frame border) of all poses that are known in this database.

This function checks whether the pose (camera frame) is known only, thus the corresponding poses can either be valid or invalid.

Parameters

lowerPoseId	Resulting id of the frame defining the lower border of the camera frames which are known
upperPoseId	Resulting id of the frame defining the upper border of the camera frames which are known

Returns: True, if at least one pose is known

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: validPoseBorders(), validPoseRange().

◆ poseFromImagePoint()

template<bool tThreadSafe>

Index32 Ocean::Tracking::Database::poseFromImagePoint ( const Index32 imagePointId ) const

inline

Determines the camera pose (camera frame) in which a specified image point is visible (to which the image point has been added).

Beware: The specified image point must exist in this database.

Parameters

imagePointId The id of the image point for which the corresponding camera pose is requested, must be valid

Returns: The unique id of the camera pose in which the specified image point is visible, an invalid id if the image point has not been added to any camera pose

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: attachImagePointToPose(), detachImagePointFromPose().

◆ poseIds() [1/2]

template<bool tThreadSafe, bool tMatchPose>

Indices32 Ocean::Tracking::Database::poseIds	(	const HomogenousMatrix4 &	referencePose,
		HomogenousMatrices4 *	poses = `nullptr`
	)		const

inline

Returns the ids of specific 6DOF poses.

Parameters

referencePose	A pose allowing to filter the resulting pose ids
poses	Optional resulting poses, on pose for each id

Returns: The resulting ids of all poses

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPose	True, if the defined pose will match the values of the resulting poses; False, if the defined pose will not match the values of the resulting poses

See also: poses().

◆ poseIds() [2/2]

template<bool tThreadSafe>

Indices32 Ocean::Tracking::Database::poseIds ( HomogenousMatrices4 * world_T_cameras = nullptr ) const

Returns the ids of all poses that are part of this database.

Parameters

world_T_cameras Optional resulting poses, one for each resulting pose id, nullptr if not of interest

Returns: The pose ids

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ poseNumber()

template<bool tThreadSafe>

size_t Ocean::Tracking::Database::poseNumber

inline

Returns the number of poses of this database.

Returns: The database's pose number

◆ poses() [1/3]

template<bool tThreadSafe, bool tMatchPose>

HomogenousMatrices4 Ocean::Tracking::Database::poses	(	const HomogenousMatrix4 &	referencePose,
		Indices32 *	poseIds = `nullptr`
	)		const

inline

Returns all 6DOF poses which match a given reference pose or which do not match a given reference pose.

Parameters

referencePose	A reference pose allowing to filter the resulting poses
poseIds	Optional resulting ids of the resulting valid poses, on id for each valid pose

Returns: The resulting valid poses

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPose	True, if the defined pose will match the values of the resulting poses; False, if the defined pose will not match the values of the resulting poses

See also: poseIds().

◆ poses() [2/3]

template<bool tThreadSafe>

HomogenousMatrices4 Ocean::Tracking::Database::poses	(	const Index32 *	poseIds,
		const size_t	size
	)		const

inline

Returns the 6DOF pose values for all specified pose ids.

Parameters

poseIds	The ids of the poses for which the 6DOF values will be returned, each pose id must be valid and must exist
size	The number of given pose ids

Returns: The resulting 6DOF pose values, one value for each id

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: pose().

◆ poses() [3/3]

template<bool tThreadSafe>

HomogenousMatrices4 Ocean::Tracking::Database::poses	(	const Index32	lowerPoseId,
		const Index32	upperPoseId
	)		const

inline

Returns all 6DOF poses (valid or invalid) lying between a specified range of pose ids.

For unknown frame ids an invalid pose is provided.

Parameters

lowerPoseId	The id (index) of the frame defining the lower border of camera poses which will be investigated
upperPoseId	The id (index) of the frame defining the upper border of camera poses which will be investigated, with range [lowerFrame, infinity)

Returns: The poses of this database, the first pose corresponds to the 'lowerFrame' while the last pose corresponds to the 'upperFrame'

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ posesFromObjectPoint()

template<bool tThreadSafe>

IndexSet32 Ocean::Tracking::Database::posesFromObjectPoint ( const Index32 objectPointId ) const

inline

Returns all poses which belong to a given object point.

Parameters

objectPointId The id of the object point for which the connected poses points are requested, must be valid

Returns: The ids of all poses which are connected with the specified object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ posesImagePoints()

template<bool tThreadSafe, bool tMatchPose>

void Ocean::Tracking::Database::posesImagePoints	(	const Index32	objectPointId,
		HomogenousMatrices4 &	poses,
		Vectors2 &	imagePoints,
		const HomogenousMatrix4 &	referencePose = `HomogenousMatrix4(false)`,
		Indices32 *	poseIds = `nullptr`,
		Indices32 *	imagePointIds = `nullptr`,
		const Index32	lowerPoseId = `invalidId`,
		const Index32	upperPoseId = `invalidId`
	)		const

Returns corresponding poses and image points for a given object point from the entire range of possible camera poses.

Parameters

objectPointId	The id of the object point for which the poses and image points are requested
poses	The resulting poses in which the object point is visible
imagePoints	The resulting image points which are the projections of the object points, each image point corresponds with one pose
referencePose	A pose allowing to filter the resulting poses so that either valid or invalid poses are found
poseIds	Optional ids of the resulting poses
imagePointIds	Optional ids of the resulting image points
lowerPoseId	Optional pose id defining the lower pose id border, invalidId if no lower border is defined
upperPoseId	Optional pose id defining the upper pose id border, invalidId if no upper border is defined

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPose	True, if the defined pose will match the values of the resulting poses; False, if the defined pose will not match the values of the resulting poses

◆ poseWithLeastCorrespondences()

template<bool tThreadSafe, bool tMatchPosition, bool tNeedValidPose>

bool Ocean::Tracking::Database::poseWithLeastCorrespondences	(	const Index32	lowerPoseId,
		const Index32	upperPoseId,
		Index32 *	poseId = `nullptr`,
		unsigned int *	correspondences = `nullptr`,
		const Vector3 &	referenceObjectPoint = `invalidObjectPoint()`
	)		const

inline

Determines the pose id for which the database holds the least number of point correspondences (between e.g., valid or invalid object points and image points).

Parameters

lowerPoseId	The id of the frame defining the lower border of the camera poses which will be investigated, with range [0, infinity)
upperPoseId	The id of the frame defining the upper border of the camera poses which will be investigated, with range [lowerPoseId, infinity)
poseId	Optional resulting id of the valid pose with least correspondences, with range [lowerPoseId, upperPoseId]
correspondences	Optional resulting number of correspondences for the resulting pose
referenceObjectPoint	A reference object point allowing to filter the correspondences to count

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the correspondences; False, if the defined position will not match the positions of the correspondences
tNeedValidPose	True, if the pose must be valid so that the number of valid correspondences will be determined

See also: poseWithMostCorrespondences().

◆ poseWithMostCorrespondences()

template<bool tThreadSafe, bool tMatchPosition, bool tNeedValidPose>

bool Ocean::Tracking::Database::poseWithMostCorrespondences	(	const Index32	lowerPoseId,
		const Index32	upperPoseId,
		Index32 *	poseId = `nullptr`,
		unsigned int *	correspondences = `nullptr`,
		const Vector3 &	referenceObjectPoint = `invalidObjectPoint()`
	)		const

inline

Determines the pose id for which the database holds the most number of point correspondences (between e.g., valid or invalid object points and image points).

Parameters

lowerPoseId	The id of the frame defining the lower border of the camera poses which will be investigated, with range [0, infinity)
upperPoseId	The id of the frame defining the upper border of the camera poses which will be investigated, with range [lowerPoseId, infinity)
poseId	Optional resulting id of the valid pose with most correspondences, with range [lowerPoseId, upperPoseId]
correspondences	Optional resulting number of correspondences for the resulting pose
referenceObjectPoint	A reference object point allowing to filter the correspondences to count

Returns: True, if a pose with at least one correspondence could be found

Template Parameters

tThreadSafe	True, to call this function thread-safe
tMatchPosition	True, if the defined position will match the positions of the correspondences; False, if the defined position will not match the positions of the correspondences
tNeedValidPose	True, if the pose must be valid so that the number of valid correspondences will be determined

See also: poseWithLeastCorrespondences().

◆ poseWithMostObservations()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::poseWithMostObservations	(	const IndexSet32 &	poseCandidates,
		const IndexSet32 &	majorObjectPointIds,
		const IndexSet32 &	minorObjectPointIds,
		Index32 &	poseId,
		Indices32 *	visibleMajorObjectPointIds = `nullptr`,
		Indices32 *	visibleMinorObjectPointIds = `nullptr`
	)		const

inline

Determines the pose id from a set of given pose id candidates for which the database holds the most observations from a set of given object point ids.

The major object point ids are the essential object point for which the most observations will be determined.
If more than one pose with the same number of most major object point observations can be determined the second set of object points (the minor object points) are used to identify the final pose with most observations.

Parameters

poseCandidates	The ids of all poses from which the best pose is determined
majorObjectPointIds	The ids of all major object points which are the essential object points for the resulting pose, at least one
minorObjectPointIds	The ids of all minor object points
poseId	The resulting id of the pose with most visible major object points (and minor object points, if more than two poses exist with same number of best visible major object points)
visibleMajorObjectPointIds	Optional resulting ids of all major object points visible in the resulting pose
visibleMinorObjectPointIds	Optional resulting ids of all minor object points visible in the resulting pose

Returns: True, at least one pose exists in which at least one major object point is visible

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ reliableObjectPoints()

Indices32 Ocean::Tracking::Database::reliableObjectPoints	(	const TopologyTriples &	topologyTriples,
		const unsigned int	minimalObservations
	)

inlinestatic

Determines reliable object points from a set of given topology triples (by determining all object points with a minimal number of observations).

Parameters

topologyTriples	The set of topology triples from which the reliable object points are determined
minimalObservations	The minimal number of observations (the number of camera poses in which the object point is visible) an object point must have to count as reliable

Returns: The ids of the reliable object points

◆ removeImagePoint()

template<bool tThreadSafe>

void Ocean::Tracking::Database::removeImagePoint ( const Index32 imagePointId )

inline

Removes an image point from this database.

Beware: The specified image point must exist in this database.

Parameters

imagePointId The id of the image point which will be removed, must be valid

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ removeObjectPoint()

template<bool tThreadSafe>

void Ocean::Tracking::Database::removeObjectPoint ( const Index32 objectPointId )

inline

Removes an object point from this database.

Beware: The specified object point must exist in this database.

Parameters

objectPointId The id of the object point which will be removed, must be valid

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ removeObjectPointAndAttachedImagePoints()

template<bool tThreadSafe>

void Ocean::Tracking::Database::removeObjectPointAndAttachedImagePoints ( const Index32 objectPointId )

Removes an object point from this database and also removes all image points attached to the object point.

Parameters

objectPointId The id of the object point which will be removed, must be valid

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ removePose()

template<bool tThreadSafe>

void Ocean::Tracking::Database::removePose ( const Index32 poseId )

inline

Removes a pose from this database.

Beware: The specified pose must exist in this database.

Parameters

poseId The id of the pose which will be removed, must be valid

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ renameObjectPoint()

template<bool tThreadSafe>

void Ocean::Tracking::Database::renameObjectPoint	(	const Index32	oldObjectPointId,
		const Index32	newObjectPointId
	)

inline

Renames an object point, changes the id of the object point respectively.

Beware: Do not mix calls with the add-objectPoint-function creating the id on its own.

Parameters

oldObjectPointId	The old (the current) id of the object point to be changed, must be valid
newObjectPointId	The new id of the object point, must be valid, must not exist

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ reset() [1/2]

template<typename T , bool tThreadSafe>

void Ocean::Tracking::Database::reset	(	const size_t	numberPoses,
		const Index32 *	poseIds,
		const HomogenousMatrixT4< T > *	poses,
		const size_t	numberObjectPoints,
		const Index32 *	objectPointIds,
		const VectorT3< T > *	objectPoints,
		const T *	objectPointPriorities,
		const size_t	numberImagePoints,
		const Index32 *	imagePointIds,
		const VectorT2< T > *	imagePoints,
		const Index32 *	topologyPoseIds,
		const Index32 *	topologyObjectPointIds
	)

Resets this database with given poses, object points, image points, and topology.

Parameters

numberPoses	The number of the provided poses, with range [0, infinity)
poseIds	The ids of all poses, nullptr if 'numberPoses == 0'
poses	The poses, one for each pose id, nullptr if 'numberPoses == 0'
numberObjectPoints	The number of the provided object points, with range [0, infinity)
objectPointIds	The ids of all object points, nullptr if 'numberObjectPoints == 0'
objectPoints	The object points, one for each object point id, nullptr if 'numberObjectPoints == 0'
objectPointPriorities	The priorities of the object points, one for each object point id, nullptr if 'numberObjectPoints == 0'
numberImagePoints	The number of provided image points, with range [0, infinity)
imagePointIds	The ids of all image points, nullptr if 'numberImagePoints == 0'
imagePoints	The image points, one for each image point id, nullptr if 'numberImagePoints == 0'
topologyPoseIds	The ids of the poses to which an image point belongs, one for each image point, 'invalidId' if unknown
topologyObjectPointIds	The ids of all object points to which an image point belongs, one for each image point, 'invalidId' if unknown

◆ reset() [2/2]

template<bool tThreadSafe>

void Ocean::Tracking::Database::reset	(	const Vector3 &	referenceObjectPoint = `invalidObjectPoint()`,
		const HomogenousMatrix4 &	referencePose = `HomogenousMatrix4(false)`
	)

inline

Resets the geometric information of this database for 3D object points and 6DOF camera poses.

However, the 2D image point locations are untouched.

Parameters

referenceObjectPoint	The new object point value for each object point of this database
referencePose	The new pose value for each pose of this database

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ rotationalPoses()

template<bool tThreadSafe>

SquareMatrices3 Ocean::Tracking::Database::rotationalPoses	(	const Index32 *	poseIds,
		const size_t	size
	)		const

inline

Returns the 3DOF rotational part of the 6DOF pose values for all specified pose ids.

The camera motion of this database must be pure rotational so that the position of each camera pose is in the origin of the coordinate system.

Parameters

poseIds	The ids of the poses for which the rotational values will be returned, each pose id must be valid and must exist
size	The number of given pose ids

Returns: The resulting 3DOF orientations of the camera, one value for each id

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: pose().

◆ secondIndex()

Index32 Ocean::Tracking::Database::secondIndex ( const Index64 index )

inlinestaticprotected

Returns the second 32 bit index of a 64 bit index.

Parameters

index The 64 bit index

Returns: Second 32 bit index

◆ setImagePoint()

template<bool tThreadSafe>

void Ocean::Tracking::Database::setImagePoint	(	const Index32	imagePointId,
		const Vector2 &	imagePoint
	)

inline

Sets (changes) an image point.

Parameters

imagePointId	The id of the image point which will be changed, must be valid
imagePoint	The new 2D position of the image point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ setObjectPoint() [1/2]

template<bool tThreadSafe>

void Ocean::Tracking::Database::setObjectPoint	(	const Index32	objectPointId,
		const Vector3 &	objectPoint
	)

inline

Sets (changes) an object point without modifying the priority value of the object point.

Parameters

objectPointId	The id of the object point which will be changed, must be valid
objectPoint	The new 3D position of the object point

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: setObjectPoints().

◆ setObjectPoint() [2/2]

template<bool tThreadSafe>

void Ocean::Tracking::Database::setObjectPoint	(	const Index32	objectPointId,
		const Vector3 &	objectPoint,
		const Scalar	priority
	)

inline

Sets (changes) an object point.

Parameters

objectPointId	The id of the object point which will be changed, must be valid
objectPoint	The new 3D position of the object point
priority	The new priority value of the object point

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ setObjectPointPriority()

template<bool tThreadSafe>

void Ocean::Tracking::Database::setObjectPointPriority	(	const Index32	objectPointId,
		const Scalar	priority
	)

inline

Sets (changes) the priority value of an object point.

Parameters

objectPointId	The id of the object point which priority value will be changed, must be valid
priority	The priority value to be set

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ setObjectPoints() [1/3]

template<bool tThreadSafe>

void Ocean::Tracking::Database::setObjectPoints	(	const Index32 *	objectPointIds,
		const size_t	number,
		const Vector3 &	referenceObjectPoint
	)

inline

Sets (changes) a set of object points without modifying the priority value of the object points.

All object points receive the same position e.g., an invalid object point position.

Parameters

objectPointIds	The ids of the object points which will be changed, must all be valid
number	The number of object points which will be updated
referenceObjectPoint	The one unique object point position to set for each specified object point

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: setObjectPoint().

◆ setObjectPoints() [2/3]

template<bool tThreadSafe>

void Ocean::Tracking::Database::setObjectPoints	(	const Index32 *	objectPointIds,
		const Vector3 *	objectPoints,
		const size_t	number
	)

inline

Sets (changes) a set of object points without modifying the priority value of the object points.

Parameters

objectPointIds	The ids of the object points which will be changed, must all be valid
objectPoints	The new 3D positions of the object points, one position for each object point id
number	The number of object points which will be updated

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: setObjectPoint().

◆ setObjectPoints() [3/3]

template<bool tThreadSafe>

void Ocean::Tracking::Database::setObjectPoints ( const Vector3 & objectPoint = invalidObjectPoint() )

inline

Sets (changes) all object points to one unique position without modifying the priority value of the object points.

Parameters

objectPoint The 3D position of all object points

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: setObjectPoint().

◆ setPose()

template<bool tThreadSafe>

void Ocean::Tracking::Database::setPose	(	const Index32	poseId,
		const HomogenousMatrix4 &	pose
	)

inline

Sets (changes) a pose.

Parameters

poseId	The id of the pose to be changed, must be valid
pose	The new pose

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ setPoses() [1/3]

template<bool tThreadSafe>

void Ocean::Tracking::Database::setPoses ( const HomogenousMatrix4 & pose )

inline

Sets (changes) all poses to one unique pose value.

Parameters

pose	The pose value of all poses

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: setPose().

◆ setPoses() [2/3]

template<bool tThreadSafe>

void Ocean::Tracking::Database::setPoses	(	const Index32 *	poseIds,
		const HomogenousMatrix4 *	poses,
		const size_t	number
	)

inline

Sets (changes) a set of poses.

Parameters

poseIds	The ids of the poses which will be changed, must all be valid
poses	The new poses, one pose for each pose id
number	The number of poses which will be updated

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: setPose().

◆ setPoses() [3/3]

template<bool tThreadSafe>

void Ocean::Tracking::Database::setPoses ( const ShiftVector< HomogenousMatrix4 > & poses )

inline

Sets (changes) a set of poses.

Parameters

poses The poses to set, the indices of the pose correspond with the ids of the poses, each pose id must be valid

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: setPose().

◆ topologyTriples()

template<bool tThreadSafe>

Database::TopologyTriples Ocean::Tracking::Database::topologyTriples ( const Indices32 & poseIds ) const

Returns topology triples with valid image points ids, object points ids and pose ids for a set of given pose ids.

Parameters

poseIds The ids of the camera pose for which the topology triples are requested.

Returns: The resulting topology triples

Template Parameters

tThreadSafe True, to call this function thread-safe

◆ validPoseBorders()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::validPoseBorders	(	Index32 &	rangeLowerPoseId,
		Index32 &	rangeUpperPoseId
	)		const

inline

Returns the smallest id (the id of the lower frame border) and the largest id (the id of the upper frame border) with a valid pose (from all known poses in this database.

Beware: There may be frame ids with invalid poses in-between.

Parameters

rangeLowerPoseId	Resulting id of the frame defining the lower border of the camera frames with valid pose
rangeUpperPoseId	Resulting id of the frame defining the upper border of the camera frames with valid pose

Returns: True, if at least one valid pose is known

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: poseBorders().

◆ validPoseRange()

template<bool tThreadSafe>

bool Ocean::Tracking::Database::validPoseRange	(	const Index32	lowerPoseId,
		const Index32	startPoseId,
		const Index32	upperPoseId,
		Index32 &	rangeLowerPoseId,
		Index32 &	rangeUpperPoseId
	)		const

inline

Determines the pose id range (around a specified start frame) for which the database holds valid poses.

Parameters

lowerPoseId	The id of the frame defining the lower border of the camera poses which will be investigated, with range [0, infinity)
startPoseId	The id of the start frame / start pose, with range [lowerPoseId, upperPoseId]
upperPoseId	The id of the frame defining the upper border of the camera poses which will be investigated, with range [startPoseId, infinity)
rangeLowerPoseId	Resulting id of the first camera pose/camera frame with valid camera pose, with range [lowerPoseId, upperPoseId]
rangeUpperPoseId	Resulting id of the last camera pose/camera frame with valid camera pose, with range [rangeLowerPoseId, upperPoseId]

Returns: True, if the resulting range holds at least one valid pose

Template Parameters

tThreadSafe True, to call this function thread-safe

See also: largestValidPoseRange(), poseBorders().

Field Documentation

◆ databaseImagePointIdCounter

Index32 Ocean::Tracking::Database::databaseImagePointIdCounter

protected

The counter for unique image point ids.

◆ databaseImagePointMap

ImagePointMap Ocean::Tracking::Database::databaseImagePointMap

protected

The map mapping unique image points ids to image point data instances.

◆ databaseLock

Lock Ocean::Tracking::Database::databaseLock

mutableprotected

The lock for the entire database.

◆ databaseObjectPointIdCounter

Index32 Ocean::Tracking::Database::databaseObjectPointIdCounter

protected

The counter for unique object point ids.

◆ databaseObjectPointMap

ObjectPointMap Ocean::Tracking::Database::databaseObjectPointMap

protected

The map mapping unique object point ids to object point data instances.

◆ databasePoseMap

PoseMap Ocean::Tracking::Database::databasePoseMap

protected

The map mapping unique pose ids to pose data instances.

◆ databasePoseObjectPointMap

Index64To32Map Ocean::Tracking::Database::databasePoseObjectPointMap

protected

The map mapping a pair of pose id and object point id to image point ids.

◆ databasePoses

unsigned int Ocean::Tracking::Database::databasePoses

protected

The number of poses.

◆ invalidId

const Index32 Ocean::Tracking::Database::invalidId = Index32(-1)

static

Definition of an invalid id.

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

Database.h

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ IdIdPointPairsMap

◆ IdPointMap

◆ IdPointPair

◆ IdPointPairs

◆ ImagePointGroups

◆ ImagePointMap

◆ ImagePointsMap

◆ Index32To32Map

◆ Index64To32Map

◆ ObjectPointMap

◆ PoseImagePointTopology

◆ PoseImagePointTopologyGroups

◆ PoseMap

◆ TopologyTriples

Constructor & Destructor Documentation

◆ Database() [1/3]

◆ Database() [2/3]

◆ Database() [3/3]

Member Function Documentation

◆ addImagePoint()

◆ addObjectPoint() [1/2]

◆ addObjectPoint() [2/2]

◆ addObjectPointFromDatabase()

◆ addPose()

◆ attachImagePointToObjectPoint()

◆ attachImagePointToPose()

◆ clear()

◆ detachImagePointFromObjectPoint()

◆ detachImagePointFromPose()

◆ filterTopologyTriplesImagePoints()

◆ filterTopologyTriplesObjectPoints()

◆ filterTopologyTriplesPoses()

◆ firstIndex()

◆ hasImagePoint()

◆ hasObjectPoint()

◆ hasObservation()

◆ hasPose()

◆ imagePoint()

◆ imagePointGroups()

◆ imagePointIds() [1/3]

◆ imagePointIds() [2/3]

◆ imagePointIds() [3/3]

◆ imagePointNumber()

◆ imagePoints() [1/5]

◆ imagePoints() [2/5]

◆ imagePoints() [3/5]

◆ imagePoints() [4/5]

◆ imagePoints() [5/5]

◆ imagePointsFromObjectPoint()

◆ imagePointsFromObjectPoints() [1/3]

◆ imagePointsFromObjectPoints() [2/3]

◆ imagePointsFromObjectPoints() [3/3]

◆ imagePointsFromPose()

◆ imagePointsObjectPoints() [1/2]

◆ imagePointsObjectPoints() [2/2]

◆ imagePointsWithObjectPoints()

◆ index64()

◆ invalidObjectPoint()

◆ isEmpty()

◆ largestValidPoseRange()

◆ lock()

◆ mergeObjectPoints()

◆ numberCorrespondences() [1/2]

◆ numberCorrespondences() [2/2]

◆ numberCorrespondencesSubset()

◆ numberImagePointsFromObjectPoint()

◆ numberObservations()

◆ numberValidPoses()

◆ objectPoint() [1/2]