- Generated on Sat Dec 28 2024 06:03:23 for Ocean by
1.9.1
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Ocean
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This class implements image alignment functions internally using sparse image information like e.g., feature points. More...
Static Public Member Functions | |
| static bool | determineHomographyWithPoints (const Frame &previousFrame, const CV::FramePyramid &previousFramePyramid, const CV::FramePyramid ¤tFramePyramid, const CV::SubRegion &previousSubRegion, const size_t numberFeaturePoints, const unsigned int patchSize, const unsigned int coarsestLayerRadius, const bool determineFullHomography, const unsigned int subPixelIterations, SquareMatrix3 &homography, Worker *worker=nullptr, Vectors2 *previousPoints=nullptr, Vectors2 *currentPoints=nullptr, Indices32 *validPointIndices=nullptr, const Scalar squarePixelErrorThreshold=Scalar(3 *3), const bool zeroMean=true) |
| Determines the global homography between two successive frames by applying a tracking of sparse feature points. More... | |
This class implements image alignment functions internally using sparse image information like e.g., feature points.
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static |
Determines the global homography between two successive frames by applying a tracking of sparse feature points.
The function tries to track sparse feature points scattered over the entire image (or sub-region) by detecting even quite weak feature points.
The resulting homography transforms image points defined in the previous image to image points defined in the current image (currentPoint = H * previousPoint).
Additionally, this function can return all point correspondences that have been determined between both frames,
or only those point correspondences that have been verified by a homography-based RANSAC.
Beware: Provide a valid 'validPointIndices' parameter and you will receive any point correspondences (stored in 'previousPoints' and 'currentPoints').
Instead, setting the 'validPointIndices' parameter to nullptr will return RANSAC-verified point correspondences only (stored in 'previousPoints' and 'currentPoints').
Ensure that 'previousPoints' and 'currentPoints' are defined if 'validPointIndices' is defined.
| previousFrame | The previous frame which is used to determine the feature points, should have 8 bit grayscale pixel format to improve the performance, otherwise it will be converted internally, can be previousFramePyramid.finestLayer() |
| previousFramePyramid | The pyramid of the previous frame, all pyramid layers will be used for tracking, with same pixel origin as 'previousFrame' |
| currentFramePyramid | The pyramid of the current frame, with same pixel format, pixel original and layer number as 'previousFramePyramid' |
| previousSubRegion | The sub-region specified in the previous frame, image content outside this sub-region will not be used for tracking, define an invalid sub-region to use the entire image information |
| numberFeaturePoints | The number of feature points to be used, with range [1, infinity) |
| patchSize | The size of the image patches used for point tracking, possible values are 5, 7, 15, 31 |
| coarsestLayerRadius | The search radius on the coarsest pyramid layer in pixel, with range [1, infinity) |
| determineFullHomography | True, to determine an 8-DOF homography; False, to determine a 2-DOF translational homography |
| subPixelIterations | Number of sub-pixel iterations that will be applied, each iteration doubles the sub-pixel accuracy, 1 = 0.5, 2 = 0.25, 3 = 0.125, ..., with range [1, infinity) |
| homography | Resulting homography transforming points in the previous image to points in the current image (currentPoint = H * previousPoint) |
| worker | Optional worker object to distribute the computation |
| previousPoints | Optional resulting image points located in the previous frame that have been either tracked and/or used for homography determination, the behavior depends whether 'validPointIndices' is defined or not, nullptr otherwise |
| currentPoints | Optional resulting image points located in the current frame that have been either tracked and/or used for homograph determination, one for each point in the previous frame, nullptr otherwise |
| validPointIndices | Optional resulting indices of all point correspondences that have been verified by a homography-based RANSAC, nullptr otherwise |
| squarePixelErrorThreshold | Maximal square pixel error between a right point and a transformed left point so that a point correspondence counts as valid, with range (0, infinity) |
| zeroMean | True, to subtract the color intensities from the corresponding mean intensity before determining the error; False, to determine the error directly |
1.9.1