This class implements a 3D plane finder without any previous knowledge about the plane or the camera poses. More...

Inheritance diagram for Ocean::Tracking::PlaneFinder:

Public Member Functions
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...

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

Protected Types
typedef CorrespondenceSet< Vector2 >	ImagePointCorrespondenceSet
	Definition of a correspondence set object with handling 2D vectors. More...

Protected Member Functions
	PlaneFinder ()
	Creates a new plane finder object. More...

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

Protected Attributes
ImagePointCorrespondenceSet	imagePointCorrespondences
	The set of image point correspondences. More...

Detailed Description

This class implements a 3D plane finder without any previous knowledge about the plane or the camera poses.

The class takes several correspondences of image points that capture corresponding 3D object points lying on the same 3D plane.

Member Typedef Documentation

◆ ImagePointCorrespondenceSet

typedef CorrespondenceSet<Vector2> Ocean::Tracking::PlaneFinder::ImagePointCorrespondenceSet

protected

Definition of a correspondence set object with handling 2D vectors.

Constructor & Destructor Documentation

◆ PlaneFinder()

Ocean::Tracking::PlaneFinder::PlaneFinder ( )

inlineprotected

Creates a new plane finder object.

◆ ~PlaneFinder()

virtual Ocean::Tracking::PlaneFinder::~PlaneFinder ( )

protectedvirtualdefault

Destructs this object.

Member Function Documentation

◆ addImagePoint() [1/3]

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

virtual

Adds new image points as new set of correspondences.

Beware: The number of provided image points must match with the number of already stored image points within each individual set of correspondences.

Parameters

imagePoints Image points to be added

Returns: True, if succeeded

Reimplemented in Ocean::Tracking::HomographyPlaneFinder.

◆ addImagePoint() [2/3]

virtual bool Ocean::Tracking::PlaneFinder::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.

This function takes a set of indices which define the valid subset of the given image points.
Only valid image points will be added while also the already stored sets of image points will be reduced so that only valid elements are stored finally.

Parameters

imagePoints	Large set of image points to be added
validIndices	Indices that define a valid subset of the given elements, each index must exist at most once and must lie inside the range [0, elements.size())

Returns: True, if succeeded

Reimplemented in Ocean::Tracking::HomographyPlaneFinder.

◆ addImagePoint() [3/3]

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

virtual

Adds new image points as new set of correspondences.

Beware: The number of provided image points must match with the number of already stored image points within each individual set of correspondences.

Parameters

imagePoints Image points to be added (and moved)

Returns: True, if succeeded

Reimplemented in Ocean::Tracking::HomographyPlaneFinder.

◆ firstImagePoints()

const Vectors2 & Ocean::Tracking::PlaneFinder::firstImagePoints ( ) const

inline

Returns the first set of image points.

Beware: Check whether this object holds at least on set of image points before you call this function.

Returns: Image points

◆ imagePoints()

size_t Ocean::Tracking::PlaneFinder::imagePoints ( ) const

inline

Returns the number of image points within each individual correspondence set.

Returns: Number of image points

◆ lastImagePoints()

const Vectors2 & Ocean::Tracking::PlaneFinder::lastImagePoints ( ) const

inline

Returns the last set of image points.

Beware: Check whether this object holds at least on set of image points before you call this function.

Returns: Image points

◆ reduce()

bool Ocean::Tracking::PlaneFinder::reduce ( const Indices32 & validIndices )

inline

Reduces the image points within each set of corresponding image points.

The remaining elements are defined by a set of indices.

Parameters

validIndices Indices that define a valid subset of the already stored elements, each index must exist at most once and must lie inside the range [0, elements())

Returns: True, if succeeded

◆ size()

size_t Ocean::Tracking::PlaneFinder::size ( ) const

inline

Returns the number of stored correspondence sets.

Returns: Correspondence set size

◆ sqrDistance()

Scalar Ocean::Tracking::PlaneFinder::sqrDistance ( ) const

inline

Calculates the summed square distance between the first image points and the corresponding image points in the most recent set of image points.

Returns: Resulting summed square distance

Field Documentation

◆ imagePointCorrespondences

ImagePointCorrespondenceSet Ocean::Tracking::PlaneFinder::imagePointCorrespondences

protected

The set of image point correspondences.

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

PlaneFinder.h

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ImagePointCorrespondenceSet

Constructor & Destructor Documentation

◆ PlaneFinder()

◆ ~PlaneFinder()

Member Function Documentation

◆ addImagePoint() [1/3]

◆ addImagePoint() [2/3]

◆ addImagePoint() [3/3]

◆ firstImagePoints()

◆ imagePoints()

◆ lastImagePoints()

◆ reduce()

◆ size()

◆ sqrDistance()

Field Documentation

◆ imagePointCorrespondences