This class implements functions to estimate camera poses using template-based data types. More...

#include <PoseEstimationT.h>

Public Types
template<typename TDescriptor >
using	UnorderedDescriptorMap = std::unordered_map< Index32, TDescriptor >
	Definition of an unordered map mapping object point ids to descriptors.

Static Public Member Functions
template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>
static bool	determinePoseBruteForce (const AnyCamera &camera, const Vector3 objectPoints, const TObjectPointDescriptor objectPointDescriptors, const size_t numberObjectPoints, const Vector2 imagePoints, const TImagePointDescriptor imagePointDescriptors, const size_t numberImagePoints, RandomGenerator &randomGenerator, HomogenousMatrix4 &world_T_camera, const unsigned int minimalNumberCorrespondences, const TDescriptorDistance maximalDescriptorDistance, const Scalar maximalProjectionError, const Scalar inlierRate=Scalar(0.15), Indices32 usedObjectPointIndices=nullptr, Indices32 usedImagePointIndices=nullptr, const HomogenousMatrix4 &world_T_roughCamera=HomogenousMatrix4(false), Worker *worker=nullptr)
	Determines the 6-DOF pose for 2D/3D correspondences applying a brute-force search.

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>
static bool	determinePoseBruteForceWithArbitraryDescriptorOrder (const AnyCamera &camera, const Vector3 objectPoints, const TObjectPointDescriptor objectPointDescriptors, const Index32 objectPointIndices, const size_t numberObjectDescriptors, const Vector2 imagePoints, const TImagePointDescriptor imagePointDescriptors, const size_t numberImagePoints, RandomGenerator &randomGenerator, HomogenousMatrix4 &world_T_camera, const unsigned int minimalNumberCorrespondences, const TDescriptorDistance maximalDescriptorDistance, const Scalar maximalProjectionError, const Scalar inlierRate=Scalar(0.15), Indices32 usedObjectPointIndices=nullptr, Indices32 *usedImagePointIndices=nullptr, const HomogenousMatrix4 &world_T_roughCamera=HomogenousMatrix4(false))
	Determines the 6-DOF pose for 2D/3D correspondences applying a brute-force search.

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>
static void	determineUnguidedBruteForceMatchings (const TObjectPointDescriptor objectPointDescriptors, const size_t numberObjectPointDescriptors, const TImagePointDescriptor imagePointDescriptors, const size_t numberImagePointDescriptors, TDescriptorDistance maximalDescriptorDistance, Index32 objectPointDescriptorIndices, Worker worker, TDescriptorDistance *distances=nullptr)
	Determines the unguided matching (without apriori information) between image point and object point features applying a brute-force search.

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>
static void	determineGuidedBruteForceMatchings (const AnyCamera &camera, const HomogenousMatrix4 &world_T_roughCamera, const Vector3 objectPoints, const TObjectPointDescriptor objectPointDescriptors, const size_t numberObjectPoints, const Vector2 imagePoints, const TImagePointDescriptor imagePointDescriptors, const size_t numberImagePoints, TDescriptorDistance maximalDescriptorDistance, const Scalar maximalProjectionError, Index32 objectPointDescriptorIndices, Worker worker)
	Determines the guided matching (without known rough camera pose) between image point and object point features applying a brute-force search.

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>
static void	determineGuidedMatchings (const AnyCamera &camera, const HomogenousMatrix4 &world_T_camera, const Vector2 imagePoints, const TImagePointDescriptor imagePointDescriptors, const size_t numberImagePoints, const Vector3 objectPoints, const Geometry::Octree &objectPointOctree, const Index32 objectPointIds, const UnorderedDescriptorMap< TObjectPointDescriptor > &objectPointDescriptorMap, Vectors2 &matchedImagePoints, Vectors3 &matchedObjectPoints, const TDescriptorDistance maximalDescriptorDistance, Indices32 matchedImagePointIndices=nullptr, Indices32 matchedObjectPointIds=nullptr, Worker *worker=nullptr)
	Determines the guided matching between 2D/3D correspondences.

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>
static std::vector< TDescriptorDistance >	determineDescriptorDistances (const TObjectPointDescriptor objectPointDescriptors, const TImagePointDescriptor imagePointDescriptors, const Index32 objectPointDescriptorIndices, const Index32 imagePointDescriptorIndices, const size_t numberCorrespondences)
	Returns the individual descriptor distances for a given set of corresponding feature descriptor pairs.

Static Protected Member Functions
template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>
static void	determineUnguidedBruteForceMatchingsSubset (const TObjectPointDescriptor objectPointDescriptors, const size_t numberObjectPointDescriptors, const TImagePointDescriptor imagePointDescriptors, TDescriptorDistance maximalDescriptorDistance, Index32 objectPointDescriptorIndices, TDescriptorDistance distances, const unsigned int firstImagePointDescriptor, const unsigned int numberImagePointDescriptors)
	Determines the unguided matching between a subset of image point and object point features applying a brute-force search.

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>
static void	determineGuidedBruteForceMatchingsSubset (const AnyCamera camera, const HomogenousMatrix4 world_T_roughCamera, const Vector3 objectPoints, const TObjectPointDescriptor objectPointDescriptors, const size_t numberObjectPoints, const Vector2 imagePoints, const TImagePointDescriptor imagePointDescriptors, TDescriptorDistance maximalDescriptorDistance, const Scalar maximalProjectionError, Index32 *objectPointDescriptorIndices, const unsigned int firstImagePoint, const unsigned int numberImagePoints)
	Determines the guided matching (without known rough camera pose) between a subset of image point and object point features applying a brute-force search.

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>
static void	determineGuidedMatchingsSubset (const AnyCamera camera, const HomogenousMatrix4 world_T_camera, const Vector2 imagePoints, const TImagePointDescriptor imagePointDescriptors, const Vector3 objectPoints, const Geometry::Octree objectPointOctree, const Index32 objectPointIds, const UnorderedDescriptorMap< TObjectPointDescriptor > objectPointDescriptorMap, Vectors2 matchedImagePoints, Vectors3 matchedObjectPoints, Indices32 matchedImagePointIndices, Indices32 matchedObjectPointIds, const TDescriptorDistance maximalDescriptorDistance, Lock *lock, const unsigned int firstImagePoint, const unsigned int numberImagePoints)
	Determines the guided matching between 2D/3D correspondences for a subset of the given 2D image points.

Detailed Description

This class implements functions to estimate camera poses using template-based data types.

Member Typedef Documentation

◆ UnorderedDescriptorMap

template<typename TDescriptor >

using Ocean::Tracking::PoseEstimationT::UnorderedDescriptorMap = std::unordered_map<Index32, TDescriptor>

Definition of an unordered map mapping object point ids to descriptors.

Member Function Documentation

◆ determineDescriptorDistances()

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>

std::vector< TDescriptorDistance > Ocean::Tracking::PoseEstimationT::determineDescriptorDistances	(	const TObjectPointDescriptor *	objectPointDescriptors,
		const TImagePointDescriptor *	imagePointDescriptors,
		const Index32 *	objectPointDescriptorIndices,
		const Index32 *	imagePointDescriptorIndices,
		const size_t	numberCorrespondences
	)

static

Returns the individual descriptor distances for a given set of corresponding feature descriptor pairs.

This function can be used to e.g., analyze the distribution of descriptor distances and e.g., to determine an ideal threshold for valid descriptor correspondences.

Parameters

objectPointDescriptors	The descriptors of the object points, must be valid
imagePointDescriptors	The descriptors of the image points, must be valid
objectPointDescriptorIndices	The indices of the object point descriptors for which a corresponding image point descriptor exists, must be valid
imagePointDescriptorIndices	The indices of the image point descriptors for which a corresponding object point descriptor exists, one for each object point descriptor, with the same order as the object point descriptors, must be valid
numberCorrespondences	The number of specified descriptor correspondences, with range [1, infinity)

Returns: The descriptor distances, one of each corresponding descriptor pair, in the same order as the provided correspondences

Template Parameters

TImagePointDescriptor	The data type of the descriptor for the 2D image points
TObjectPointDescriptor	The data type of the descriptor for the 3D object points
TDescriptorDistance	The data type of the distance between image point and object point descriptors, e.g., 'uint32_t' or 'float'
tImageObjectDistanceFunction	The function pointer to a function allowing to determine the descriptor distance between an image point feature descriptor and an object point feature descriptor, must be valid

◆ determineGuidedBruteForceMatchings()

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>

void Ocean::Tracking::PoseEstimationT::determineGuidedBruteForceMatchings	(	const AnyCamera &	camera,
		const HomogenousMatrix4 &	world_T_roughCamera,
		const Vector3 *	objectPoints,
		const TObjectPointDescriptor *	objectPointDescriptors,
		const size_t	numberObjectPoints,
		const Vector2 *	imagePoints,
		const TImagePointDescriptor *	imagePointDescriptors,
		const size_t	numberImagePoints,
		TDescriptorDistance	maximalDescriptorDistance,
		const Scalar	maximalProjectionError,
		Index32 *	objectPointDescriptorIndices,
		Worker *	worker
	)

static

Determines the guided matching (without known rough camera pose) between image point and object point features applying a brute-force search.

Parameters

camera	The camera profile defining the projection, must be valid
world_T_roughCamera	The known rough camera pose transforming camera to world, must be valid
objectPoints	The 3D object points to be used, must be valid
objectPointDescriptors	The object point descriptors, one for each 3D object point, must be valid
numberObjectPoints	The number of given object points (and object point descriptors), with range [1, infinity)
imagePoints	The 2D image points to be used, must be valid
imagePointDescriptors	The image point descriptors, one for each 2D image point, must be valid
numberImagePoints	The number of given image points (and image point descriptors), with range [1, infinity)
maximalDescriptorDistance	The maximal distance between two corresponding descriptors, with range [0, infinity)
maximalProjectionError	The maximal projection error of valid 2D/3D feature correspondences, in pixel, with range [0, infinity)
objectPointDescriptorIndices	The resulting indices of object point descriptors matching to the individual image point descriptors, one object point descriptor index of each given image point descriptor, -1 for image point descriptors for which no matching object point descriptor could be found
worker	Optional worker to distribute the computation

Template Parameters

TImagePointDescriptor	The data type of the descriptor for the 2D image points
TObjectPointDescriptor	The data type of the descriptor for the 3D object points
TDescriptorDistance	The data type of the distance between image point and object point descriptors, e.g., 'uint32_t' or 'float'
tImageObjectDistanceFunction	The function pointer to a function allowing to determine the descriptor distance between an image point feature descriptor and an object point feature descriptor, must be valid

◆ determineGuidedBruteForceMatchingsSubset()

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>

void Ocean::Tracking::PoseEstimationT::determineGuidedBruteForceMatchingsSubset	(	const AnyCamera *	camera,
		const HomogenousMatrix4 *	world_T_roughCamera,
		const Vector3 *	objectPoints,
		const TObjectPointDescriptor *	objectPointDescriptors,
		const size_t	numberObjectPoints,
		const Vector2 *	imagePoints,
		const TImagePointDescriptor *	imagePointDescriptors,
		TDescriptorDistance	maximalDescriptorDistance,
		const Scalar	maximalProjectionError,
		Index32 *	objectPointDescriptorIndices,
		const unsigned int	firstImagePoint,
		const unsigned int	numberImagePoints
	)

staticprotected

Determines the guided matching (without known rough camera pose) between a subset of image point and object point features applying a brute-force search.

Parameters

camera	The camera profile defining the projection, must be valid
world_T_roughCamera	The known rough camera pose transforming camera to world, must be valid
objectPoints	The 3D object points to be used, must be valid
objectPointDescriptors	The object point descriptors, one for each 3D object point, must be valid
numberObjectPoints	The number of given object points (and object point descriptors), with range [1, infinity)
imagePoints	The 2D image points to be used, must be valid
imagePointDescriptors	The image point descriptors, one for each 2D image point, must be valid
maximalDescriptorDistance	The maximal distance between two corresponding descriptors, with range [0, infinity)
maximalProjectionError	The maximal projection error of valid 2D/3D feature correspondences, in pixel, with range [0, infinity)
objectPointDescriptorIndices	The resulting indices of object point descriptors matching to the individual image point descriptors, one object point descriptor index of each given image point descriptor, -1 for image point descriptors for which no matching object point descriptor could be found
firstImagePoint	The first image point to be handled, with range [0, numberImagePoints - 1]
numberImagePoints	The number of image points to be handled, with range [1, numberImagePoints - firstImagePoint]

Template Parameters

TImagePointDescriptor	The data type of the descriptor for the 2D image points
TObjectPointDescriptor	The data type of the descriptor for the 3D object points
TDescriptorDistance	The data type of the distance between image point and object point descriptors, e.g., 'uint32_t' or 'float'
tImageObjectDistanceFunction	The function pointer to a function allowing to determine the descriptor distance between an image point feature descriptor and an object point feature descriptor, must be valid

◆ determineGuidedMatchings()

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>

void Ocean::Tracking::PoseEstimationT::determineGuidedMatchings	(	const AnyCamera &	camera,
		const HomogenousMatrix4 &	world_T_camera,
		const Vector2 *	imagePoints,
		const TImagePointDescriptor *	imagePointDescriptors,
		const size_t	numberImagePoints,
		const Vector3 *	objectPoints,
		const Geometry::Octree &	objectPointOctree,
		const Index32 *	objectPointIds,
		const UnorderedDescriptorMap< TObjectPointDescriptor > &	objectPointDescriptorMap,
		Vectors2 &	matchedImagePoints,
		Vectors3 &	matchedObjectPoints,
		const TDescriptorDistance	maximalDescriptorDistance,
		Indices32 *	matchedImagePointIndices = `nullptr`,
		Indices32 *	matchedObjectPointIds = `nullptr`,
		Worker *	worker = `nullptr`
	)

static

Determines the guided matching between 2D/3D correspondences.

Parameters

camera	The camera profile to be used, must be valid
world_T_camera	The known (rough) camera pose transforming camera to world, with default camera looking into the negative z-space an y-axis upwards, must be valid
imagePoints	The 2D image points of all possible 2D features, must be valid
imagePointDescriptors	The descriptors for all 2D image points, one for each image points, must be valid
numberImagePoints	The number of 2D image points, with range [4, infinity)
objectPoints	The 3D object points of all possible 3D features, must be valid
objectPointOctree	The octree with all 3D object points
objectPointIds	The ids of all 3D object points, one for each 3D object point, must be valid
objectPointDescriptorMap	The map mapping 3D object point ids to their descriptors
matchedImagePoints	The resulting 2D image points which have been determined during the matching
matchedObjectPoints	The resulting 3D object points which have been determined during the matching
maximalDescriptorDistance	The maximal descriptor distance so that two descriptors are still considered to match, with range [0, infinity)
matchedImagePointIndices	Optional resulting indices of the image points which have been matched, one for each resulting 2D image points, nullptr if not of interest
matchedObjectPointIds	Optional resulting object point ids of the object points which have been matched, one for each resulting 3D image points, nullptr if not of interest
worker	Optional worker to distribute the computation

Template Parameters

TImagePointDescriptor	The data type of the descriptor for the 2D image points
TObjectPointDescriptor	The data type of the descriptor for the 3D object points
TDescriptorDistance	The data type of the distance between image point and object point descriptors, e.g., 'uint32_t' or 'float'
tImageObjectDistanceFunction	The function pointer to a function allowing to determine the descriptor distance between an image point feature descriptor and an object point feature descriptor, must be valid

◆ determineGuidedMatchingsSubset()

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>

void Ocean::Tracking::PoseEstimationT::determineGuidedMatchingsSubset	(	const AnyCamera *	camera,
		const HomogenousMatrix4 *	world_T_camera,
		const Vector2 *	imagePoints,
		const TImagePointDescriptor *	imagePointDescriptors,
		const Vector3 *	objectPoints,
		const Geometry::Octree *	objectPointOctree,
		const Index32 *	objectPointIds,
		const UnorderedDescriptorMap< TObjectPointDescriptor > *	objectPointDescriptorMap,
		Vectors2 *	matchedImagePoints,
		Vectors3 *	matchedObjectPoints,
		Indices32 *	matchedImagePointIndices,
		Indices32 *	matchedObjectPointIds,
		const TDescriptorDistance	maximalDescriptorDistance,
		Lock *	lock,
		const unsigned int	firstImagePoint,
		const unsigned int	numberImagePoints
	)

staticprotected

Determines the guided matching between 2D/3D correspondences for a subset of the given 2D image points.

Parameters

camera	The camera profile to be used, must be valid
world_T_camera	The known (rough) camera pose transforming camera to world, with default camera looking into the negative z-space an y-axis upwards, must be valid
imagePoints	The 2D image points of all possible 2D features, must be valid
imagePointDescriptors	The descriptors for all 2D image points, one for each image points, must be valid
objectPoints	The 3D object points of all possible 3D features, must be valid
objectPointOctree	The octree with all 3D object points
objectPointIds	The ids of all 3D object points, one for each 3D object point, must be valid
objectPointDescriptorMap	The map mapping 3D object point ids to their descriptors
matchedImagePoints	The resulting 2D image points which have been determined during the matching
matchedObjectPoints	The resulting 3D object points which have been determined during the matching
maximalDescriptorDistance	The maximal descriptor distance so that two descriptors are still considered to match, with range [0, infinity)
matchedImagePointIndices	The resulting indices of the image points which have been matched, one for each resulting 2D image points, nullptr if not of interest
matchedObjectPointIds	The resulting object point ids of the object points which have been matched, one for each resulting 3D image points, nullptr if not of interest
lock	The lock object in case this function is executed across multiple thread, nullptr if executed in one thread
firstImagePoint	The index of the first image point to be handled, with range [0, numberImagePoints - 1]
numberImagePoints	The number of image points to be handled, with range [1, numberImagePoints - firstImagePoint]

Template Parameters

TImagePointDescriptor	The data type of the descriptor for the 2D image points
TObjectPointDescriptor	The data type of the descriptor for the 3D object points
TDescriptorDistance	The data type of the distance between image point and object point descriptors, e.g., 'uint32_t' or 'float'
tImageObjectDistanceFunction	The function pointer to a function allowing to determine the descriptor distance between an image point feature descriptor and an object point feature descriptor, must be valid

◆ determinePoseBruteForce()

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>

bool Ocean::Tracking::PoseEstimationT::determinePoseBruteForce	(	const AnyCamera &	camera,
		const Vector3 *	objectPoints,
		const TObjectPointDescriptor *	objectPointDescriptors,
		const size_t	numberObjectPoints,
		const Vector2 *	imagePoints,
		const TImagePointDescriptor *	imagePointDescriptors,
		const size_t	numberImagePoints,
		RandomGenerator &	randomGenerator,
		HomogenousMatrix4 &	world_T_camera,
		const unsigned int	minimalNumberCorrespondences,
		const TDescriptorDistance	maximalDescriptorDistance,
		const Scalar	maximalProjectionError,
		const Scalar	inlierRate = `Scalar(0.15)`,
		Indices32 *	usedObjectPointIndices = `nullptr`,
		Indices32 *	usedImagePointIndices = `nullptr`,
		const HomogenousMatrix4 &	world_T_roughCamera = `HomogenousMatrix4(false)`,
		Worker *	worker = `nullptr`
	)

static

Determines the 6-DOF pose for 2D/3D correspondences applying a brute-force search.

The function can be used to verify the performance/correctness of pose estimation functions avoiding a brute-force search.

Parameters

camera	The camera profile to be used, must be valid
objectPoints	The 3D object points of all possible 3D features, must be valid
objectPointDescriptors	The descriptors for all 3D object points, one descriptor for each 3D object point (however, TObjectPointDescriptor allows to e.g., define a array/vector of several descriptors per object point), must be valid
numberObjectPoints	The number of given 3D object points (and object point descriptors), with range [4, infinity)
imagePoints	The 2D image points of all possible 2D features, must be valid
imagePointDescriptors	The descriptors for all 2D image points, one for each image points, must be valid
numberImagePoints	The number of 2D image points, with range [4, infinity)
randomGenerator	The random generator to be used
world_T_camera	The resulting camera pose transforming camera to world, with default camera looking into the negative z-space an y-axis upwards
minimalNumberCorrespondences	The minimal number of 2D/3D correspondences so that a camera pose counts as valid, with range [4, infinity)
maximalDescriptorDistance	The maximal descriptor distance so that two descriptors are still considered to match, with range [0, infinity)
maximalProjectionError	The maximal projection error between a projected 3D object point and a 2D image point so that both points count as corresponding, in pixel, with range [0, infinity)
inlierRate	The rate of correspondence inliers within the entire set of correspondences, e.g., 0.15 means that 15% of matched features are correct and can be used to determine a valid pose, with range (0, 1]
usedObjectPointIndices	Optional resulting indices of the 3D object points which have been used to determine the camera pose, nullptr if not of interest
usedImagePointIndices	Optional resulting indices of the 2D image points which have been used to determine the camera pose, nullptr if not of interest
world_T_roughCamera	Optional known rough camera pose allowing to skip the unguided matching, invalid if unknown
worker	Optional worker to distribute the computation

Returns: True, if succeeded

Template Parameters

TImagePointDescriptor	The data type of the descriptor for the 2D image points
TObjectPointDescriptor	The data type of the descriptor for the 3D object points
TDescriptorDistance	The data type of the distance between image point and object point descriptors, e.g., 'uint32_t' or 'float'
tImageObjectDistanceFunction	The function pointer to a function allowing to determine the descriptor distance between an image point feature descriptor and an object point feature descriptor, must be valid

◆ determinePoseBruteForceWithArbitraryDescriptorOrder()

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>

bool Ocean::Tracking::PoseEstimationT::determinePoseBruteForceWithArbitraryDescriptorOrder	(	const AnyCamera &	camera,
		const Vector3 *	objectPoints,
		const TObjectPointDescriptor *	objectPointDescriptors,
		const Index32 *	objectPointIndices,
		const size_t	numberObjectDescriptors,
		const Vector2 *	imagePoints,
		const TImagePointDescriptor *	imagePointDescriptors,
		const size_t	numberImagePoints,
		RandomGenerator &	randomGenerator,
		HomogenousMatrix4 &	world_T_camera,
		const unsigned int	minimalNumberCorrespondences,
		const TDescriptorDistance	maximalDescriptorDistance,
		const Scalar	maximalProjectionError,
		const Scalar	inlierRate = `Scalar(0.15)`,
		Indices32 *	usedObjectPointIndices = `nullptr`,
		Indices32 *	usedImagePointIndices = `nullptr`,
		const HomogenousMatrix4 &	world_T_roughCamera = `HomogenousMatrix4(false)`
	)

static

Determines the 6-DOF pose for 2D/3D correspondences applying a brute-force search.

The function can be used to verify the performance/correctness of pose estimation functions avoiding a brute-force search. This function uses descriptors for 3D object points which can be stored in an arbitrary order (even multiple individual descriptors can exist for one 3D object point). The relationship between object point descriptors and their corresponding 3D object point locations is defined via 'objectPointIndices'.

Parameters

camera	The camera profile to be used, must be valid
objectPoints	The 3D object points of all possible 3D features, must be valid
objectPointDescriptors	The descriptors for all 3D object points, some descriptors may describe the same 3D object points (e.g., because of different viewing locations), must be valid
objectPointIndices	The indices of the corresponding 3D object points, one for each object point descriptor, mainly a map mapping descriptor indices to point indices, must be valid
numberObjectDescriptors	The number of given descriptors for the 3D object points, with range [4, infinity)
imagePoints	The 2D image points of all possible 2D features, must be valid
imagePointDescriptors	The descriptors for all 2D image points, one for each image points, must be valid
numberImagePoints	The number of 2D image points, with range [4, infinity)
randomGenerator	The random generator to be used
world_T_camera	The resulting camera pose transforming camera to world, with default camera looking into the negative z-space an y-axis upwards
minimalNumberCorrespondences	The minimal number of 2D/3D correspondences so that a camera pose counts as valid, with range [4, infinity)
maximalDescriptorDistance	The maximal descriptor distance so that two descriptors are still considered to match, with range [0, infinity)
maximalProjectionError	The maximal projection error between a projected 3D object point and a 2D image point so that both points count as corresponding, in pixel, with range [0, infinity)
inlierRate	The rate of correspondence inliers within the entire set of correspondences, e.g., 0.15 means that 15% of matched features are correct and can be used to determine a valid pose, with range (0, 1]
usedObjectPointIndices	Optional resulting indices of the 3D object points which have been used to determine the camera pose, nullptr if not of interest
usedImagePointIndices	Optional resulting indices of the 2D image points which have been used to determine the camera pose, nullptr if not of interest
world_T_roughCamera	Optional known rough camera pose allowing to skip the unguided matching, invalid if unknown

Returns: True, if succeeded

Template Parameters

TImagePointDescriptor	The data type of the descriptor for the 2D image points
TObjectPointDescriptor	The data type of the descriptor for the 3D object points
TDescriptorDistance	The data type of the distance between image point and object point descriptors, e.g., 'uint32_t' or 'float'
tImageObjectDistanceFunction	The function pointer to a function allowing to determine the descriptor distance between an image point feature descriptor and an object point feature descriptor, must be valid

◆ determineUnguidedBruteForceMatchings()

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>

void Ocean::Tracking::PoseEstimationT::determineUnguidedBruteForceMatchings	(	const TObjectPointDescriptor *	objectPointDescriptors,
		const size_t	numberObjectPointDescriptors,
		const TImagePointDescriptor *	imagePointDescriptors,
		const size_t	numberImagePointDescriptors,
		TDescriptorDistance	maximalDescriptorDistance,
		Index32 *	objectPointDescriptorIndices,
		Worker *	worker,
		TDescriptorDistance *	distances = `nullptr`
	)

static

Determines the unguided matching (without apriori information) between image point and object point features applying a brute-force search.

Parameters

objectPointDescriptors	The object point descriptors to be used, must be valid
numberObjectPointDescriptors	The number of given object point descriptors, with range [1, infinity)
imagePointDescriptors	The image point descriptors to be used, must be valid
numberImagePointDescriptors	The number of given image point descriptors, with range [1, infinity)
maximalDescriptorDistance	The maximal distance between two corresponding descriptors, with range [0, infinity)
objectPointDescriptorIndices	The resulting indices of object point descriptors matching to the individual image point descriptors, one object point descriptor index of each given image point descriptor, -1 for image point descriptors for which no matching object point descriptor could be found
worker	Optional worker to distribute the computation
distances	Optional resulting distances between the individual matched descriptors, one for each image point descriptor, undefined if no matching exists, nullptr if not of interest

Template Parameters

TImagePointDescriptor	The data type of the descriptor for the 2D image points
TObjectPointDescriptor	The data type of the descriptor for the 3D object points
TDescriptorDistance	The data type of the distance between image point and object point descriptors, e.g., 'uint32_t' or 'float'
tImageObjectDistanceFunction	The function pointer to a function allowing to determine the descriptor distance between an image point feature descriptor and an object point feature descriptor, must be valid

◆ determineUnguidedBruteForceMatchingsSubset()

template<typename TImagePointDescriptor , typename TObjectPointDescriptor , typename TDescriptorDistance , TDescriptorDistance(*)(const TImagePointDescriptor &, const TObjectPointDescriptor &) tImageObjectDistanceFunction>

void Ocean::Tracking::PoseEstimationT::determineUnguidedBruteForceMatchingsSubset	(	const TObjectPointDescriptor *	objectPointDescriptors,
		const size_t	numberObjectPointDescriptors,
		const TImagePointDescriptor *	imagePointDescriptors,
		TDescriptorDistance	maximalDescriptorDistance,
		Index32 *	objectPointDescriptorIndices,
		TDescriptorDistance *	distances,
		const unsigned int	firstImagePointDescriptor,
		const unsigned int	numberImagePointDescriptors
	)

staticprotected

Determines the unguided matching between a subset of image point and object point features applying a brute-force search.

Parameters

objectPointDescriptors	The object point descriptors to be used, must be valid
numberObjectPointDescriptors	The number of given object point descriptors, with range [1, infinity)
imagePointDescriptors	The image point descriptors to be used, must be valid
maximalDescriptorDistance	The maximal distance between two corresponding descriptors, with range [0, infinity)
objectPointDescriptorIndices	The resulting indices of object point descriptors matching to the individual image point descriptors, one object point descriptor index of each given image point descriptor, -1 for image point descriptors for which no matching object point descriptor could be found
distances	Optional resulting distances between the individual matched descriptors, one for each image point descriptor, nullptr if not of interest
firstImagePointDescriptor	The first image point descriptor to be handled, with range [0, numberImagePointDescriptors - 1]
numberImagePointDescriptors	The number of image point descriptors to be handled, with range [1, numberImagePointDescriptors - firstImagePointDescriptor]

Template Parameters

TImagePointDescriptor	The data type of the descriptor for the 2D image points
TObjectPointDescriptor	The data type of the descriptor for the 3D object points
TDescriptorDistance	The data type of the distance between image point and object point descriptors, e.g., 'uint32_t' or 'float'
tImageObjectDistanceFunction	The function pointer to a function allowing to determine the descriptor distance between an image point feature descriptor and an object point feature descriptor, must be valid

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

PoseEstimationT.h

Public Types

Static Public Member Functions

Static Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ UnorderedDescriptorMap

Member Function Documentation

◆ determineDescriptorDistances()

◆ determineGuidedBruteForceMatchings()

◆ determineGuidedBruteForceMatchingsSubset()

◆ determineGuidedMatchings()

◆ determineGuidedMatchingsSubset()

◆ determinePoseBruteForce()

◆ determinePoseBruteForceWithArbitraryDescriptorOrder()

◆ determineUnguidedBruteForceMatchings()

◆ determineUnguidedBruteForceMatchingsSubset()