This class implements a set of pose projections. More...

#include <PoseProjection.h>

Data Structures
class	ErrorObject
	This class implements a error object. More...

Public Types
typedef std::vector< PoseProjection >	PoseProjections
	Definition of a vector holding pose projections.

typedef std::vector< ErrorObject >	ErrorObjects
	Definition of a vector holding error objects.

Public Member Functions
	PoseProjectionSet ()
	Creates an empty set of pose projections.

	~PoseProjectionSet ()
	Destructs a set of pose projections.

unsigned int	width () const
	Returns the width of the camera in pixel used for all projections.

unsigned int	height () const
	Returns the height of the camera in pixel used for all projections.

void	addPoseProjection (const PoseProjection &poseProjection)
	Adds a new pose projection.

const PoseProjections &	poseProjections () const
	Returns the registered pose projections.

size_t	size () const
	Returns the number of registered pose projections.

void	setDimension (const unsigned int width, const unsigned int height)
	Sets the dimension of the camera used for all pose projections.

void	clear ()
	Clears the projection set.

template<Geometry::Estimator::EstimatorType tEstimator>
HomogenousMatrix4	findPoseWithMinimalError (const Geometry::ImagePoint imagePoints, const size_t numberImagePoints, const size_t validImagePoints, const Geometry::Error::ErrorDetermination errorDetermination, Scalar resultingError=nullptr, Worker *worker=nullptr)
	Returns the pose with the minimal distance error.

template<Geometry::Estimator::EstimatorType tEstimator>
unsigned int	findPosesWithMinimalError (const Geometry::ImagePoint imagePoints, const size_t numberImagePoints, const size_t validImagePoints, const Geometry::Error::ErrorDetermination errorDetermination, const size_t numberPoses, HomogenousMatrix4 poses, Scalar resultingErrors=nullptr, Worker worker=nullptr)
	Returns the poses with the minimal distance error.

bool	isEmpty () const
	Returns whether this set holds no pose projections.

	operator bool () const
	Returns whether this set holds at least one pose projection.

Private Member Functions
template<Geometry::Estimator::EstimatorType tEstimator>
void	findPoseWithMinimalErrorSubset (const Geometry::ImagePoint imagePoints, const size_t numberImagePoints, const size_t validImagePoints, const Geometry::Error::ErrorDetermination errorDetermination, ErrorObject errorObjects, const unsigned int firstProjection, const unsigned int numberProjections)
	Returns the pose with the minimal distance error for a subset of the pose projections.

Private Attributes
PoseProjections	projectionSetPoseProjections
	All registered pose projections.

unsigned int	projectionSetCameraWidth
	Width of the camera in pixel used for all pose projections.

unsigned int	projectionSetCameraHeight
	Height of the camera in pixel used for all pose projections.

Detailed Description

This class implements a set of pose projections.

Member Typedef Documentation

◆ ErrorObjects

typedef std::vector<ErrorObject> Ocean::Tracking::PoseProjectionSet::ErrorObjects

Definition of a vector holding error objects.

◆ PoseProjections

typedef std::vector<PoseProjection> Ocean::Tracking::PoseProjectionSet::PoseProjections

Definition of a vector holding pose projections.

Constructor & Destructor Documentation

◆ PoseProjectionSet()

Ocean::Tracking::PoseProjectionSet::PoseProjectionSet ( )

Creates an empty set of pose projections.

◆ ~PoseProjectionSet()

Ocean::Tracking::PoseProjectionSet::~PoseProjectionSet ( )

Destructs a set of pose projections.

Member Function Documentation

◆ addPoseProjection()

void Ocean::Tracking::PoseProjectionSet::addPoseProjection ( const PoseProjection & poseProjection )

inline

Adds a new pose projection.

Parameters

poseProjection Pose projection to be added

◆ clear()

void Ocean::Tracking::PoseProjectionSet::clear ( )

Clears the projection set.

◆ findPosesWithMinimalError()

template<Geometry::Estimator::EstimatorType tEstimator>

unsigned int Ocean::Tracking::PoseProjectionSet::findPosesWithMinimalError	(	const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const size_t	validImagePoints,
		const Geometry::Error::ErrorDetermination	errorDetermination,
		const size_t	numberPoses,
		HomogenousMatrix4 *	poses,
		Scalar *	resultingErrors = `nullptr`,
		Worker *	worker = `nullptr`
	)

Returns the poses with the minimal distance error.

The number of given image points must be equal or small to the number of internal pose points of this object.

Parameters

imagePoints	Image points to find corresponding pose points for
numberImagePoints	Number of given image points
validImagePoints	Number of valid image points expecting to have corresponding points in the pose points, with range [1, numberImagePoints]
errorDetermination	Depending on this flag uniqueAveragedRobustErrorInPointCloud, approximatedAveragedRobustErrorInPointCloud() or ambiguousAveragedRobustErrorInPointCloud() will be used
numberPoses	Number of poses to be found
poses	Resulting poses, make sure that the memory block provides enough space
resultingErrors	Optional resulting minimal average square errors individual for each returned pose, make sure that the memory block provides enough space
worker	Optional worker object to distribute the computation

Returns: Number of found best poses

Template Parameters

tEstimator Estimator to be applied

◆ findPoseWithMinimalError()

template<Geometry::Estimator::EstimatorType tEstimator>

HomogenousMatrix4 Ocean::Tracking::PoseProjectionSet::findPoseWithMinimalError	(	const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const size_t	validImagePoints,
		const Geometry::Error::ErrorDetermination	errorDetermination,
		Scalar *	resultingError = `nullptr`,
		Worker *	worker = `nullptr`
	)

inline

Returns the pose with the minimal distance error.

The number of given image points must be equal or small to the number of internal pose points of this object.

Parameters

imagePoints	Image points to find corresponding pose points for
numberImagePoints	Number of given image points
validImagePoints	Number of valid image points expecting to have corresponding points in the pose points, with range [1, numberImagePoints]
errorDetermination	Depending on this flag uniqueAveragedRobustErrorInPointCloud, approximatedAveragedRobustErrorInPointCloud() or ambiguousAveragedRobustErrorInPointCloud() will be used
resultingError	Optional resulting minimal average square error
worker	Optional worker object to distribute the computation

Returns: Pose with minimal error

Template Parameters

tEstimator Estimator to be applied

◆ findPoseWithMinimalErrorSubset()

template<Geometry::Estimator::EstimatorType tEstimator>

void Ocean::Tracking::PoseProjectionSet::findPoseWithMinimalErrorSubset	(	const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const size_t	validImagePoints,
		const Geometry::Error::ErrorDetermination	errorDetermination,
		ErrorObject *	errorObjects,
		const unsigned int	firstProjection,
		const unsigned int	numberProjections
	)

private

Returns the pose with the minimal distance error for a subset of the pose projections.

Parameters

imagePoints	Image points to find corresponding pose points for
numberImagePoints	Number of given image points
validImagePoints	Number of valid image points expecting to have corresponding points in the pose points, with range [1, numberImagePoints]
errorDetermination	Depending on this flag uniqueAveragedRobustErrorInPointCloud, approximatedAveragedRobustErrorInPointCloud() or ambiguousAveragedRobustErrorInPointCloud() will be used
errorObjects	Error objects receiving the estimated error values
firstProjection	First projection to be handled
numberProjections	Number of projections to be handled

Template Parameters

tEstimator Estimator to be applied

◆ height()

unsigned int Ocean::Tracking::PoseProjectionSet::height ( ) const

inline

Returns the height of the camera in pixel used for all projections.

Returns: The camera height in pixels

See also: width().

◆ isEmpty()

bool Ocean::Tracking::PoseProjectionSet::isEmpty ( ) const

inline

Returns whether this set holds no pose projections.

Returns: True, if so

◆ operator bool()

Ocean::Tracking::PoseProjectionSet::operator bool ( ) const

inlineexplicit

Returns whether this set holds at least one pose projection.

Returns: True, if so

◆ poseProjections()

const PoseProjectionSet::PoseProjections & Ocean::Tracking::PoseProjectionSet::poseProjections ( ) const

inline

Returns the registered pose projections.

Returns: Pose projections

◆ setDimension()

void Ocean::Tracking::PoseProjectionSet::setDimension	(	const unsigned int	width,
		const unsigned int	height
	)

inline

Sets the dimension of the camera used for all pose projections.

Parameters

width	The camera width in pixel
height	The camera height in pixel

See also: width(), height().

◆ size()

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

inline

Returns the number of registered pose projections.

Returns: Pose projection number

◆ width()

unsigned int Ocean::Tracking::PoseProjectionSet::width ( ) const

inline

Returns the width of the camera in pixel used for all projections.

Returns: The camera width in pixels

See also: height().

Field Documentation

◆ projectionSetCameraHeight

unsigned int Ocean::Tracking::PoseProjectionSet::projectionSetCameraHeight

private

Height of the camera in pixel used for all pose projections.

◆ projectionSetCameraWidth

unsigned int Ocean::Tracking::PoseProjectionSet::projectionSetCameraWidth

private

Width of the camera in pixel used for all pose projections.

◆ projectionSetPoseProjections

PoseProjections Ocean::Tracking::PoseProjectionSet::projectionSetPoseProjections

private

All registered pose projections.

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

PoseProjection.h

Data Structures

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ErrorObjects

◆ PoseProjections

Constructor & Destructor Documentation

◆ PoseProjectionSet()

◆ ~PoseProjectionSet()

Member Function Documentation

◆ addPoseProjection()

◆ clear()

◆ findPosesWithMinimalError()

◆ findPoseWithMinimalError()

◆ findPoseWithMinimalErrorSubset()

◆ height()

◆ isEmpty()

◆ operator bool()

◆ poseProjections()

◆ setDimension()

◆ size()

◆ width()

Field Documentation

◆ projectionSetCameraHeight

◆ projectionSetCameraWidth

◆ projectionSetPoseProjections