This class implements a 3D plane finder that determines the plane by calculation of a homography between two frames taken from two individual camera positions. More...

Inheritance diagram for Ocean::Tracking::HomographyPlaneFinder:

Public Types
typedef std::pair< Vector3, Vector3 >	NormalPair
	Definition of a pair storing two corresponding normals. More...

Public Member Functions
	HomographyPlaneFinder ()
	Creates a new plane finder object. More...

const Vectors2 &	initialImagePoints () const
	Returns the first point set that is stored. More...

const Vectors2 &	currentImagePoints () const
	Returns the current point set that is stored. More...

virtual bool	addImagePoint (const Vectors2 &imagePoints)
	Adds new image points as new set of correspondences. More...

virtual bool	addImagePoint (Vectors2 &&imagePoints)
	Adds new image points as new set of correspondences. More...

virtual bool	addImagePoint (const Vectors2 &imagePoints, const Indices32 &validIndices)
	Adds a new subset of image points that corresponds to a subset of the stored sets of image points. More...

bool	addPlaneCandidates (const PinholeCamera &pinhole)
	Determines a new set of plane candidates matching with the currently stored image point correspondences. More...

bool	hasAccuratePlane (const Scalar maxAngle)
	Checks whether one of the last three successive frames provided almost identical plane normals. More...

bool	determineMostAccuratePlanes (Plane3 planes[2])
	Determines the pair of planes which have been determined in the previous calls of addPlaneCandidates(). More...

Public Member Functions inherited from Ocean::Tracking::PlaneFinder
size_t	size () const
	Returns the number of stored correspondence sets. More...

size_t	imagePoints () const
	Returns the number of image points within each individual correspondence set. More...

const Vectors2 &	firstImagePoints () const
	Returns the first set of image points. More...

const Vectors2 &	lastImagePoints () const
	Returns the last set of image points. More...

Scalar	sqrDistance () const
	Calculates the summed square distance between the first image points and the corresponding image points in the most recent set of image points. More...

bool	reduce (const Indices32 &validIndices)
	Reduces the image points within each set of corresponding image points. More...

Protected Types
typedef std::vector< NormalPair >	NormalPairs
	Definition of a vector holding pairs of normals. More...

Protected Types inherited from Ocean::Tracking::PlaneFinder
typedef CorrespondenceSet< Vector2 >	ImagePointCorrespondenceSet
	Definition of a correspondence set object with handling 2D vectors. More...

Static Protected Member Functions
static Scalar	maximalCosBetweenNormalPairs (const NormalPair &minus, const NormalPair &center, const NormalPair &plus)
	Determines the maximal cosine value between three pairs of plane normals. More...

static bool	determineBestNormalPair (const NormalPairs &normalPairs, size_t &index, Scalar &angle)
	Determines the pair of normals with smallest angle. More...

Protected Attributes
NormalPairs	planeFinderNormalPairs
	Successive plane normal sets. More...

RandomGenerator	randomGenerator
	Random number generator. More...

size_t	planeImagePointsSets
	Number of image points sets that have been added. More...

Protected Attributes inherited from Ocean::Tracking::PlaneFinder
ImagePointCorrespondenceSet	imagePointCorrespondences
	The set of image point correspondences. More...

Additional Inherited Members
Protected Member Functions inherited from Ocean::Tracking::PlaneFinder
	PlaneFinder ()
	Creates a new plane finder object. More...

virtual	~PlaneFinder ()=default
	Destructs this object. More...

Detailed Description

This class implements a 3D plane finder that determines the plane by calculation of a homography between two frames taken from two individual camera positions.

The resulting plane quality can be improved by using more than two frames.
Two possible plane solutions will be provided.
NOTE This class is almost obsolete we keep it for demonstration purpose only.

Member Typedef Documentation

◆ NormalPair

typedef std::pair<Vector3, Vector3> Ocean::Tracking::HomographyPlaneFinder::NormalPair

Definition of a pair storing two corresponding normals.

◆ NormalPairs

typedef std::vector<NormalPair> Ocean::Tracking::HomographyPlaneFinder::NormalPairs

protected

Definition of a vector holding pairs of normals.

Constructor & Destructor Documentation

◆ HomographyPlaneFinder()

Ocean::Tracking::HomographyPlaneFinder::HomographyPlaneFinder ( )

inline

Creates a new plane finder object.

Member Function Documentation

◆ addImagePoint() [1/3]

virtual bool Ocean::Tracking::HomographyPlaneFinder::addImagePoint ( const Vectors2 & imagePoints )

virtual

Adds new image points as new set of correspondences.

After new points have added the homography determination needs to be invoked.

See also: PlaneFinder::addImagePoint(), applyHomographyDetermination().

Reimplemented from Ocean::Tracking::PlaneFinder.

◆ addImagePoint() [2/3]

virtual bool Ocean::Tracking::HomographyPlaneFinder::addImagePoint	(	const Vectors2 &	imagePoints,
		const Indices32 &	validIndices
	)

virtual

Adds a new subset of image points that corresponds to a subset of the stored sets of image points.

After new points have added the homography determination needs to be invoked.

See also: PlaneFinder::addImagePoint(), applyHomographyDetermination().

Reimplemented from Ocean::Tracking::PlaneFinder.

◆ addImagePoint() [3/3]

virtual bool Ocean::Tracking::HomographyPlaneFinder::addImagePoint ( Vectors2 && imagePoints )

virtual

Adds new image points as new set of correspondences.

After new points have added the homography determination needs to be invoked.

See also: PlaneFinder::addImagePoint(), applyHomographyDetermination().

Reimplemented from Ocean::Tracking::PlaneFinder.

◆ addPlaneCandidates()

bool Ocean::Tracking::HomographyPlaneFinder::addPlaneCandidates ( const PinholeCamera & pinhole )

Determines a new set of plane candidates matching with the currently stored image point correspondences.

The new candidates will be added to the large set of possible plane candidates finally allowing to determine the most reliable/accurate plane(s).

Parameters

pinhole The pinhole camera profile defining the projection, must be valid

Returns: True, if succeeded

See also: determineMostAccuratePlanes().

◆ currentImagePoints()

const Vectors2 & Ocean::Tracking::HomographyPlaneFinder::currentImagePoints ( ) const

inline

Returns the current point set that is stored.

Returns: current set of points

◆ determineBestNormalPair()

static bool Ocean::Tracking::HomographyPlaneFinder::determineBestNormalPair	(	const NormalPairs &	normalPairs,
		size_t &	index,
		Scalar &	angle
	)

staticprotected

Determines the pair of normals with smallest angle.

Parameters

normalPairs	The pairs of normals, at least 3
index	The resulting index of the best pairs, with range [0, normalPairs.size())
angle	The resulting angle between the best pairs of normals

Returns: True, if succeeded

◆ determineMostAccuratePlanes()

bool Ocean::Tracking::HomographyPlaneFinder::determineMostAccuratePlanes ( Plane3 planes[2] )

Determines the pair of planes which have been determined in the previous calls of addPlaneCandidates().

Parameters

planes The two resulting planes

Returns: True, if succeeded

◆ hasAccuratePlane()

bool Ocean::Tracking::HomographyPlaneFinder::hasAccuratePlane ( const Scalar maxAngle )

Checks whether one of the last three successive frames provided almost identical plane normals.

Parameters

maxAngle The maximal angle between two plane normals, in radian, with range [0, PI/2)

◆ initialImagePoints()

const Vectors2 & Ocean::Tracking::HomographyPlaneFinder::initialImagePoints ( ) const

inline

Returns the first point set that is stored.

Returns: First set of points

◆ maximalCosBetweenNormalPairs()

static Scalar Ocean::Tracking::HomographyPlaneFinder::maximalCosBetweenNormalPairs	(	const NormalPair &	minus,
		const NormalPair &	center,
		const NormalPair &	plus
	)

staticprotected

Determines the maximal cosine value between three pairs of plane normals.

Parameters

minus	The previous pairs of plane normals
center	The current pairs of plane normals
plus	The next pairs of plane normals

Returns: The maximal cosine value, with range [-1, 1]

Field Documentation

◆ planeFinderNormalPairs

NormalPairs Ocean::Tracking::HomographyPlaneFinder::planeFinderNormalPairs

protected

Successive plane normal sets.

◆ planeImagePointsSets

size_t Ocean::Tracking::HomographyPlaneFinder::planeImagePointsSets

protected

Number of image points sets that have been added.

◆ randomGenerator

RandomGenerator Ocean::Tracking::HomographyPlaneFinder::randomGenerator

protected

Random number generator.

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

HomographyPlaneFinder.h

Public Types

Public Member Functions

Protected Types

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ NormalPair

◆ NormalPairs

Constructor & Destructor Documentation

◆ HomographyPlaneFinder()

Member Function Documentation

◆ addImagePoint() [1/3]

◆ addImagePoint() [2/3]

◆ addImagePoint() [3/3]

◆ addPlaneCandidates()

◆ currentImagePoints()

◆ determineBestNormalPair()

◆ determineMostAccuratePlanes()

◆ hasAccuratePlane()

◆ initialImagePoints()

◆ maximalCosBetweenNormalPairs()

Field Documentation

◆ planeFinderNormalPairs

◆ planeImagePointsSets

◆ randomGenerator