This class implements functions determining point correspondences or validates their accuracy. More...

Data Structures
class	Correspondence
	This class defines a correspondence object holding at most one correspondence candidate. More...

class	RedundantCorrespondence
	This class extends the correspondence object to allow at most two correspondence candidates. More...

Public Types
typedef std::vector< Correspondence >	Correspondences
	Definition of a vector holding correspondence objects. More...

typedef std::vector< RedundantCorrespondence >	RedundantCorrespondences
	Definition of a vector holding redundant correspondence sets. More...

Static Public Member Functions
static unsigned int	determineValidCorrespondences (const HomogenousMatrix4 &extrinsic, const PinholeCamera &pinholeCamera, const Geometry::ObjectPoint objectPoints, const Geometry::ImagePoint imagePoints, const size_t correspondences, const bool distortImagePoints, const Scalar sqrPixelError=Scalar(1.5 1.5), Indices32 validCorrespondences=nullptr)
	Determines valid correspondences for a set of given object and corresponding image points combined with an extrinsic and intrinsic camera matrix. More...

static unsigned int	determineValidCorrespondencesIF (const HomogenousMatrix4 &invertedFlippedExtrinsic, const PinholeCamera &pinholeCamera, const Geometry::ObjectPoint objectPoints, const Geometry::ImagePoint imagePoints, const size_t correspondences, const bool distortImagePoints, const Scalar sqrPixelError=Scalar(1.5 1.5), Indices32 validCorrespondences=nullptr)
	Determines valid correspondences for a set of given object and corresponding image points combined with an extrinsic and intrinsic camera matrix. More...

static void	removeInvalidCorrespondences (const HomogenousMatrix4 &extrinsic, const PinholeCamera &pinholeCamera, Geometry::ObjectPoints &objectPoints, Geometry::ImagePoints &imagePoints, const bool distortImagePoints, const Scalar sqrPixelError=Scalar(1.5 *1.5))
	Determines valid correspondences in a set of given object and corresponding image points. More...

static void	removeInvalidCorrespondencesIF (const HomogenousMatrix4 &invertedFlippedExtrinsic, const PinholeCamera &pinholeCamera, Geometry::ObjectPoints &objectPoints, Geometry::ImagePoints &imagePoints, const bool distortImagePoints, const Scalar sqrPixelError=Scalar(1.5 *1.5))
	Determines valid correspondences in a set of given object and corresponding image points. More...

static RedundantCorrespondences	determineNearestCandidates (const Geometry::ImagePoint imagePoints, const size_t numberImagePoints, const Geometry::ImagePoint candidatePoints, const size_t numberCandidatePoints, const Scalar searchWindowRadius, Indices32 *candidateUseCounter=nullptr)
	Determines the nearest candidates for all given image points from an extra set of candidate image points. More...

static RedundantCorrespondences	determineNearestCandidates (const Geometry::ImagePoint imagePoints, const size_t numberImagePoints, const Geometry::ImagePoint candidatePoints, const size_t numberCandidatePoints, const unsigned int width, const unsigned int height, const Scalar searchWindowRadius, Indices32 *candidateUseCounter=nullptr)
	Determines the nearest candidates for all given image points from an extra set of candidate image points. More...

static RedundantCorrespondences	determineNearestCandidates (const HomogenousMatrix4 &extrinsic, const PinholeCamera &pinholeCamera, const Geometry::ImagePoint imagePoints, const size_t numberImagePoints, const Geometry::ObjectPoint candidatePoints, const size_t numberCandidatePoints, const bool distortImagePoints, const Scalar searchWindowRadius, Indices32 *candidateUseCounter=nullptr)
	Determines the nearest candidates for all given image points from a set of candidate projected object points (or simply a second set of image points). More...

static RedundantCorrespondences	determineNearestCandidatesIF (const HomogenousMatrix4 &invertedFlippedExtrinsic, const PinholeCamera &pinholeCamera, const Geometry::ImagePoint imagePoints, const size_t numberImagePoints, const Geometry::ObjectPoint candidatePoints, const size_t numberCandidatePoints, const bool distortImagePoints, const Scalar searchWindowRadius, Indices32 *candidateUseCounter=nullptr)
	Determines the nearest candidates for all given image points from a set of candidate object points. More...

static RedundantCorrespondences	determineNearestCandidates (const Geometry::ImagePoint imagePoints, const size_t numberImagePoints, const Geometry::ImagePoint candidatePoints, const size_t numberCandidatePoints, const Scalar searchWindowRadius, const Geometry::SpatialDistribution::DistributionArray &distributionCandidatePoints, Indices32 *candidateUseCounter=nullptr)
	Determines the nearest candidates for all given image points from a set of candidate image points. More...

static RedundantCorrespondences	determineNearestCandidates (const Geometry::ImagePoint imagePoints, const size_t numberImagePoints, const Geometry::ImagePoint candidatePoints, const Line2 candidateLines, const size_t numberCandidatePoints, const unsigned int width, const unsigned int height, const Scalar searchWindowRadius, const Scalar maximalLineSqrDistance, Indices32 candidateUseCounter=nullptr)
	Determines the nearest candidates for all given image points from a set of candidate image points. More...

static RedundantCorrespondences	determineNearestCandidates (const Geometry::ImagePoint imagePoints, const size_t numberImagePoints, const Geometry::ImagePoint candidatePoints, const Line2 candidateLines, const size_t numberCandidatePoints, const Scalar searchWindowRadius, const Scalar maximalLineSqrDistance, const Geometry::SpatialDistribution::DistributionArray &distributionCandidatePoints, Indices32 candidateUseCounter=nullptr)
	Determines the nearest candidates for all given image points from a set of candidate image points. More...

static Indices32	filterValidCorrespondences (const Vector2 firstPoints, const Vector2 secondPoints, const size_t numberPoints, const Scalar thresholdFactor)
	Finds the valid correspondences of a set of given 2D point correspondences according to the median distance of the entire set. More...

static Indices32	filterValidCorrespondences (const Vectors2 &firstPoints, const Vectors2 &secondPoints, const Indices32 &subsetIndices, const Scalar thresholdFactor)
	Finds the valid correspondences of a set of given 2D point correspondences according to the median distance of a subset of the entire set. More...

Detailed Description

This class implements functions determining point correspondences or validates their accuracy.

Member Typedef Documentation

◆ Correspondences

typedef std::vector<Correspondence> Ocean::Tracking::PointCorrespondences::Correspondences

Definition of a vector holding correspondence objects.

◆ RedundantCorrespondences

typedef std::vector<RedundantCorrespondence> Ocean::Tracking::PointCorrespondences::RedundantCorrespondences

Definition of a vector holding redundant correspondence sets.

Member Function Documentation

◆ determineNearestCandidates() [1/6]

static RedundantCorrespondences Ocean::Tracking::PointCorrespondences::determineNearestCandidates	(	const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const Geometry::ImagePoint *	candidatePoints,
		const Line2 *	candidateLines,
		const size_t	numberCandidatePoints,
		const Scalar	searchWindowRadius,
		const Scalar	maximalLineSqrDistance,
		const Geometry::SpatialDistribution::DistributionArray &	distributionCandidatePoints,
		Indices32 *	candidateUseCounter = `nullptr`
	)

static

Determines the nearest candidates for all given image points from a set of candidate image points.

The spatial distribution of the candidate points must be provided explicitly.
Further, for each candidate point a given 2D line is provided that predicts the position of a corresponding image points (they must lie on these lines).

Parameters

imagePoints	Image points to find the candidates for
numberImagePoints	Number of image points
candidatePoints	Candidate points from those the nearest correspondences has to be found
candidateLines	Lines for each candidate point shrinking the search space to an almost 1D problem
numberCandidatePoints	Number of given candidate points
searchWindowRadius	Size of the search window (as 'radius') to accept a candidate, with range (0, infinity)
maximalLineSqrDistance	Maximal square distance between point and candidate line
distributionCandidatePoints	Distribution of the candidate points (may contain more points as defined by the number of candidate points)
candidateUseCounter	Optional used-counter of the candidate points

Returns: Resulting redundant correspondences

◆ determineNearestCandidates() [2/6]

static RedundantCorrespondences Ocean::Tracking::PointCorrespondences::determineNearestCandidates	(	const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const Geometry::ImagePoint *	candidatePoints,
		const Line2 *	candidateLines,
		const size_t	numberCandidatePoints,
		const unsigned int	width,
		const unsigned int	height,
		const Scalar	searchWindowRadius,
		const Scalar	maximalLineSqrDistance,
		Indices32 *	candidateUseCounter = `nullptr`
	)

static

Determines the nearest candidates for all given image points from a set of candidate image points.

This function first distributes all candidate points into an array to speed up the search process.
Further, for each candidate point a given 2D line is provided that predicts the position of a corresponding image points (they must lie on these lines).

Parameters

imagePoints	Image points to find the candidates for
numberImagePoints	Number of image points
candidatePoints	Candidate points from those the nearest correspondences has to be found
candidateLines	Lines for each candidate point shrinking the search space to an almost 1D problem
numberCandidatePoints	Number of given candidate points
width	The width of the image area in pixel
height	The height of the image area in pixel
searchWindowRadius	Size of the search window (as 'radius') to accept a candidate, with range (0, infinity)
maximalLineSqrDistance	Maximal square distance between point and candidate line
candidateUseCounter	Optional used counter of the candidate points

Returns: Resulting redundant correspondences

◆ determineNearestCandidates() [3/6]

static RedundantCorrespondences Ocean::Tracking::PointCorrespondences::determineNearestCandidates	(	const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const Geometry::ImagePoint *	candidatePoints,
		const size_t	numberCandidatePoints,
		const Scalar	searchWindowRadius,
		const Geometry::SpatialDistribution::DistributionArray &	distributionCandidatePoints,
		Indices32 *	candidateUseCounter = `nullptr`
	)

static

Determines the nearest candidates for all given image points from a set of candidate image points.

The spatial distribution of the candidate points must be provided explicitly.

Parameters

imagePoints	Image points to find the candidates for
numberImagePoints	Number of image points
candidatePoints	Candidate points to found the nearest correspondences from
numberCandidatePoints	Number of given candidate points
searchWindowRadius	Size of the search window (as 'radius') to accept a candidate, with range (0, infinity)
distributionCandidatePoints	Distribution of the candidate points (may contain more points as defined by the number of candidate points)
candidateUseCounter	Optional used-counter of the candidate points

Returns: Resulting redundant correspondences

◆ determineNearestCandidates() [4/6]

static RedundantCorrespondences Ocean::Tracking::PointCorrespondences::determineNearestCandidates	(	const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const Geometry::ImagePoint *	candidatePoints,
		const size_t	numberCandidatePoints,
		const Scalar	searchWindowRadius,
		Indices32 *	candidateUseCounter = `nullptr`
	)

static

Determines the nearest candidates for all given image points from an extra set of candidate image points.

Parameters

imagePoints	Image points to find the candidates for
numberImagePoints	Number of image points
candidatePoints	Candidate points to found the nearest correspondences from
numberCandidatePoints	Number of given candidate points
searchWindowRadius	Size of the search window (as 'radius') to accept a candidate, with range (0, infinity)
candidateUseCounter	Optional used-counter of the candidate points

Returns: Resulting redundant correspondences

◆ determineNearestCandidates() [5/6]

static RedundantCorrespondences Ocean::Tracking::PointCorrespondences::determineNearestCandidates	(	const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const Geometry::ImagePoint *	candidatePoints,
		const size_t	numberCandidatePoints,
		const unsigned int	width,
		const unsigned int	height,
		const Scalar	searchWindowRadius,
		Indices32 *	candidateUseCounter = `nullptr`
	)

static

Determines the nearest candidates for all given image points from an extra set of candidate image points.

This function first distributes all candidate points into an array to speed up the search process.

Parameters

imagePoints	Image points to find the candidates for
numberImagePoints	Number of image points
candidatePoints	Candidate points to found the nearest correspondences from
numberCandidatePoints	Number of given candidate points
width	The width of the image area in pixel
height	The height of the image area in pixel
searchWindowRadius	Size of the search window (as 'radius') to accept a candidate, with range (0, infinity)
candidateUseCounter	Optional used-counter of the candidate points

Returns: Resulting redundant correspondences

◆ determineNearestCandidates() [6/6]

PointCorrespondences::RedundantCorrespondences Ocean::Tracking::PointCorrespondences::determineNearestCandidates	(	const HomogenousMatrix4 &	extrinsic,
		const PinholeCamera &	pinholeCamera,
		const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const Geometry::ObjectPoint *	candidatePoints,
		const size_t	numberCandidatePoints,
		const bool	distortImagePoints,
		const Scalar	searchWindowRadius,
		Indices32 *	candidateUseCounter = `nullptr`
	)

inlinestatic

Determines the nearest candidates for all given image points from a set of candidate projected object points (or simply a second set of image points).

All object points will be projected into the image plane to find the neighbors for the image points.

Parameters

extrinsic	Extrinsic camera matrix
pinholeCamera	The pinhole camera specifying the internal camera parameters and optionally distortion
imagePoints	Image points to find the candidates for
numberImagePoints	Number of image points
candidatePoints	Candidate points to found the nearest correspondences from
numberCandidatePoints	Number of given candidate points
distortImagePoints	True, to force the distortion of the image points using the distortion parameters of this camera object
searchWindowRadius	Size of the search window (as 'radius') to accept a candidate, with range (0, infinity)
candidateUseCounter	Optional used-counter of the candidate points

Returns: Resulting redundant correspondences

◆ determineNearestCandidatesIF()

static RedundantCorrespondences Ocean::Tracking::PointCorrespondences::determineNearestCandidatesIF	(	const HomogenousMatrix4 &	invertedFlippedExtrinsic,
		const PinholeCamera &	pinholeCamera,
		const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const Geometry::ObjectPoint *	candidatePoints,
		const size_t	numberCandidatePoints,
		const bool	distortImagePoints,
		const Scalar	searchWindowRadius,
		Indices32 *	candidateUseCounter = `nullptr`
	)

static

Determines the nearest candidates for all given image points from a set of candidate object points.

All object points will be projected into the image plane to find the neighbors for the image points.

Parameters

invertedFlippedExtrinsic	Inverted and flipped extrinsic camera matrix
pinholeCamera	The pinhole camera specifying the internal camera parameters and optionally distortion
imagePoints	Image points to find the candidates for
numberImagePoints	Number of image points
candidatePoints	Candidate points to found the nearest correspondences from
numberCandidatePoints	Number of given candidate points
distortImagePoints	True, to force the distortion of the image points using the distortion parameters of this camera object
searchWindowRadius	Size of the search window (as 'radius') to accept a candidate, with range (0, infinity)
candidateUseCounter	Optional used-counter of the candidate points

Returns: Resulting redundant correspondences

◆ determineValidCorrespondences()

unsigned int Ocean::Tracking::PointCorrespondences::determineValidCorrespondences	(	const HomogenousMatrix4 &	extrinsic,
		const PinholeCamera &	pinholeCamera,
		const Geometry::ObjectPoint *	objectPoints,
		const Geometry::ImagePoint *	imagePoints,
		const size_t	correspondences,
		const bool	distortImagePoints,
		const Scalar	sqrPixelError = `Scalar(1.5 * 1.5)`,
		Indices32 *	validCorrespondences = `nullptr`
	)

inlinestatic

Determines valid correspondences for a set of given object and corresponding image points combined with an extrinsic and intrinsic camera matrix.

Parameters

extrinsic	Extrinsic camera matrix
pinholeCamera	The pinhole camera specifying the internal camera parameters and optionally distortion
objectPoints	3D Object points corresponding to the given pose
imagePoints	2D Image points corresponding to the image points
correspondences	Number of point correspondences to be used
distortImagePoints	True, to force the distortion of the image points using the distortion parameters of this camera object
sqrPixelError	Maximal allowed squared pixel error for a correspondence to count as valid
validCorrespondences	Optional resulting valid correspondence indices

Returns: Number of valid correspondences

See also: determineValidCorrespondencesIF().

◆ determineValidCorrespondencesIF()

static unsigned int Ocean::Tracking::PointCorrespondences::determineValidCorrespondencesIF	(	const HomogenousMatrix4 &	invertedFlippedExtrinsic,
		const PinholeCamera &	pinholeCamera,
		const Geometry::ObjectPoint *	objectPoints,
		const Geometry::ImagePoint *	imagePoints,
		const size_t	correspondences,
		const bool	distortImagePoints,
		const Scalar	sqrPixelError = `Scalar(1.5 *1.5)`,
		Indices32 *	validCorrespondences = `nullptr`
	)

static

Determines valid correspondences for a set of given object and corresponding image points combined with an extrinsic and intrinsic camera matrix.

Parameters

invertedFlippedExtrinsic	Inverted and flipped extrinsic camera matrix
pinholeCamera	The pinhole camera specifying the internal camera parameters and optionally distortion
objectPoints	3D Object points corresponding to the given pose
imagePoints	2D Image points corresponding to the image points
correspondences	Number of point correspondences to be used
distortImagePoints	True, to force the distortion of the image points using the distortion parameters of this camera object
sqrPixelError	Maximal allowed squared pixel error for a correspondence to count as valid
validCorrespondences	Optional resulting valid correspondence indices

Returns: Number of valid correspondences

See also: determineValidCorrespondences().

◆ filterValidCorrespondences() [1/2]

static Indices32 Ocean::Tracking::PointCorrespondences::filterValidCorrespondences	(	const Vector2 *	firstPoints,
		const Vector2 *	secondPoints,
		const size_t	numberPoints,
		const Scalar	thresholdFactor
	)

static

Finds the valid correspondences of a set of given 2D point correspondences according to the median distance of the entire set.

Parameters

firstPoints	Points of the first set
secondPoints	Points of the second set, each point corresponds to one in the first set (with same index)
numberPoints	Number of provided points in each set
thresholdFactor	Factor that is applied to the median distance to filter valid correspondences

Returns: Indices of all valid correspondences

◆ filterValidCorrespondences() [2/2]

static Indices32 Ocean::Tracking::PointCorrespondences::filterValidCorrespondences	(	const Vectors2 &	firstPoints,
		const Vectors2 &	secondPoints,
		const Indices32 &	subsetIndices,
		const Scalar	thresholdFactor
	)

static

Finds the valid correspondences of a set of given 2D point correspondences according to the median distance of a subset of the entire set.

This function needs a set of indices determining the subset of the given points that are investigated.

Parameters

firstPoints	Points of the first set
secondPoints	Points of the second set, each point corresponds to one in the first set (with same index)
subsetIndices	Subset of the given two point sets that are investigated for correspondence determination
thresholdFactor	Factor that is applied to the median distance to filter valid correspondences

Returns: Indices of all valid correspondences

◆ removeInvalidCorrespondences()

void Ocean::Tracking::PointCorrespondences::removeInvalidCorrespondences	(	const HomogenousMatrix4 &	extrinsic,
		const PinholeCamera &	pinholeCamera,
		Geometry::ObjectPoints &	objectPoints,
		Geometry::ImagePoints &	imagePoints,
		const bool	distortImagePoints,
		const Scalar	sqrPixelError = `Scalar(1.5 * 1.5)`
	)

inlinestatic

Determines valid correspondences in a set of given object and corresponding image points.

Invalid correspondences will be removed from the given point set. Thus, this function detects outliers.

Parameters

extrinsic	Extrinsic camera matrix
pinholeCamera	The pinhole camera specifying the internal camera parameters and optionally distortion
objectPoints	3D Object points corresponding to the given pose, each 3D point matches to a 2D point with the same index
imagePoints	2D Image points corresponding to the image points, each 2D point matches to a 3D point with the same index
distortImagePoints	True, to force the distortion of the image points using the distortion parameters of this camera object
sqrPixelError	Maximal allowed squared pixel error for a correspondence to count as valid

◆ removeInvalidCorrespondencesIF()

static void Ocean::Tracking::PointCorrespondences::removeInvalidCorrespondencesIF	(	const HomogenousMatrix4 &	invertedFlippedExtrinsic,
		const PinholeCamera &	pinholeCamera,
		Geometry::ObjectPoints &	objectPoints,
		Geometry::ImagePoints &	imagePoints,
		const bool	distortImagePoints,
		const Scalar	sqrPixelError = `Scalar(1.5 *1.5)`
	)

static

Determines valid correspondences in a set of given object and corresponding image points.

Invalid correspondences will be removed from the given point set. Thus, this function detects outliers.

Parameters

invertedFlippedExtrinsic	Inverted and flipped extrinsic camera matrix
pinholeCamera	The pinhole camera specifying the internal camera parameters and optionally distortion
objectPoints	3D Object points corresponding to the given pose, each 3D point matches to a 2D point with the same index
imagePoints	2D Image points corresponding to the image points, each 2D point matches to a 3D point with the same index
distortImagePoints	True, to force the distortion of the image points using the distortion parameters of this camera object
sqrPixelError	Maximal allowed squared pixel error for a correspondence to count as valid

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

PointCorrespondences.h

Data Structures

Public Types

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ Correspondences

◆ RedundantCorrespondences

Member Function Documentation

◆ determineNearestCandidates() [1/6]

◆ determineNearestCandidates() [2/6]

◆ determineNearestCandidates() [3/6]

◆ determineNearestCandidates() [4/6]

◆ determineNearestCandidates() [5/6]

◆ determineNearestCandidates() [6/6]

◆ determineNearestCandidatesIF()

◆ determineValidCorrespondences()

◆ determineValidCorrespondencesIF()

◆ filterValidCorrespondences() [1/2]

◆ filterValidCorrespondences() [2/2]

◆ removeInvalidCorrespondences()

◆ removeInvalidCorrespondencesIF()