This class implements a spherical environment based on a panorama frame. More...

Inheritance diagram for Ocean::Tracking::SphericalEnvironment:

Public Types
typedef Callback< bool, const CV::FramePyramid &, const CV::FramePyramid &, const PinholeCamera &, const PinholeCamera &, const SquareMatrix3 &, const SquareMatrix3 &, const uint8_t, Frame &, Worker * >	FrameCallback
	Definition of a callback function allowing to determine an update mask for a current camera frame. More...

typedef std::vector< IndexPairs32 >	PoseImagePointPairGroups
	Definition of a vector holding groups of pairs between camera pose ids and image point ids. More...

Public Types inherited from Ocean::CV::Advanced::PanoramaFrame
enum	UpdateMode { UM_INVALID , UM_SET_NEW , UM_SET_ALL , UM_AVERAGE_LOCAL , UM_AVERAGE_GLOBAL }
	Definition of individual frame update modes. More...

Public Member Functions
	SphericalEnvironment ()=default
	Creates an invalid spherical environment object. More...

	SphericalEnvironment (const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const uint8_t maskValue, const UpdateMode frameMode)
	Creates a new spherical environment object. More...

bool	extendEnvironment (const PinholeCamera &pinholeCamera, const Frame &frame, const unsigned int approximationBinSize=20u, const Geometry::Estimator::EstimatorType fineAdjustmentEstimator=Geometry::Estimator::ET_INVALID, const bool optimizeCamera=false, Worker worker=nullptr, SquareMatrix3 orientation=nullptr, PinholeCamera *optimizedCamera=nullptr, const FrameCallback &frameCallback=FrameCallback())
	Adds a new camera frame to the panorama frame for which the orientation is unknown. More...

bool	optimizeOrientation (const PinholeCamera &pinholeCamera, const SquareMatrix3 &orientation, const Frame &frame, const Frame &mask, const Geometry::Estimator::EstimatorType estimator, SquareMatrix3 &optimizedOrientation, PinholeCamera optimizedCamera=nullptr, LookupTable fineAdjustment=nullptr, const unsigned int approximationBinSize=20u, Worker *worker=nullptr)
	Determines the precise orientation of a given camera frame. More...

virtual void	clear ()
	Clears the panorama frame and allows to set a new first camera frame. More...

Public Member Functions inherited from Ocean::CV::Advanced::PanoramaFrame
	PanoramaFrame ()=default
	Creates an invalid panorama frame instance. More...

	PanoramaFrame (const unsigned int width, const unsigned int height, const uint8_t maskValue, const UpdateMode updateMode)
	Creates a new panorama frame instance. More...

	PanoramaFrame (const Frame &frame, const Frame &mask, const uint8_t maskValue, const UpdateMode updateMode, Worker *worker=nullptr)
	Creates a new panorama frame instance by an already existing (entire) panorama frame. More...

	PanoramaFrame (Frame &&frame, Frame &&mask, const uint8_t maskValue, const UpdateMode updateMode, Worker *worker=nullptr)
	Creates a new panorama frame instance by an already existing (entire) panorama frame. More...

virtual	~PanoramaFrame ()=default
	Default destructor. More...

uint8_t	maskValue () const
	Returns the mask value defining the 8 bit pixel value of valid pixels. More...

UpdateMode	updateMode () const
	Returns the update mode of this panorama frame. More...

const Frame &	frame () const
	Returns the current panorama sub-frame (not the maximal possible panorama frame). More...

const Frame &	mask () const
	Returns the mask of the current panorama frame. More...

const PixelPosition &	frameTopLeft () const
	Returns the top left position of the current panorama sub-frame. More...

unsigned int	dimensionWidth () const
	Returns the maximal possible width of the entire panorama frame representing horizontal 360 degrees, in pixel. More...

unsigned int	dimensionHeight () const
	Returns the maximal possible height of the entire panorama frame representing vertical 180 degrees, in pixel. More...

bool	setFrame (const PixelPosition &topLeft, const Frame &frame, const Frame &mask=Frame(), Worker *worker=nullptr)
	Sets or resets the panorama sub-frame (not the maximal possible panorama frame). More...

bool	addFrame (const PinholeCamera &pinholeCamera, const SquareMatrix3 &orientation, const Frame &frame, const Frame &mask, const unsigned int approximationBinSize=20u, Worker *worker=nullptr)
	Adds a new camera frame to the panorama frame for which the orientation is known. More...

bool	extractFrame (const PinholeCamera &pinholeCamera, const SquareMatrix3 &orientation, Frame &frame, Frame &mask, const unsigned int approximationBinSize=20u, Worker worker=nullptr, const LookupTable fineAdjustment=nullptr) const
	Extracts a camera frame from the panorama frame. More...

Vector2	cameraPixel2panoramaPixel (const PinholeCamera &pinholeCamera, const SquareMatrix3 &orientation, const Vector2 &cameraPixel, const Vector2 &referenceAngle) const
	Converts a given pixel position defined in the current camera frame into the pixel position defined in the entire (maximal possible) panorama frame. More...

Vector2	cameraPixel2panoramaPixelStrict (const PinholeCamera &pinholeCamera, const SquareMatrix3 &orientation, const Vector2 &cameraPixel) const
	Converts a given pixel position defined in the current camera frame into the pixel position defined in the entire (maximal possible) panorama frame. More...

Vector2	panoramaPixel2cameraPixel (const PinholeCamera &pinholeCamera, const SquareMatrix3 &iOrientation, const Vector2 &panoramaPixel) const
	Converts a given pixel position defined in the entire (maximal possible) panorama frame into the pixel position defined in a camera frame. More...

Vector2	angle2pixel (const Vector2 &angle) const
	Converts an angle in the entire (maximal possible) panorama frame to the corresponding pixel position in the entire panorama frame. More...

Vector2	pixel2angle (const Vector2 &position) const
	Converts the pixel position in the entire (maximal possible) panorama frame to the corresponding angle in the entire panorama frame. More...

bool	cameraFrame2panoramaSubFrame (const PinholeCamera &pinholeCamera, const Frame &frame, const Frame &mask, const SquareMatrix3 &orientation, Frame &panoramaSubFrame, Frame &panoramaSubMask, PixelPositionI &subFrameTopLeft, const unsigned int approximationBinSize=20u, Worker worker=nullptr, const LookupTable fineAdjustment=nullptr)
	Copies (interpolates) the entire area of a camera frame with specified camera orientation to a sub-frame of an entire panorama frame. More...

bool	isValid () const
	Returns whether this panorama frame holds valid configuration parameters and thus can be used. More...

	operator bool () const
	Returns whether this panorama frame holds valid configuration parameters and thus can be used. More...

template<unsigned int tChannels>
void	mergeAverageGlobal8BitPerChannel (const uint8_t panoramaSubFrame, const uint8_t panoramaSubMask, const unsigned int subFrameWidth, const unsigned int subFrameHeight, const unsigned int panoramaSubFramePaddingElements, const unsigned int panoramaSubMaskPaddingElements, const PixelPosition &subTopLeft, uint32_t panoramaNominatorFrame, uint32_t panoramaDenominatorFrame, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaWidth, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const PixelPosition &panoramaTopLeft, const uint8_t maskValue, Worker *worker)

Static Public Member Functions
static bool	determinePointCorrespondencesHomography (const Frame &sourceFrame, const Frame &targetFrame, const SquareMatrix3 &homography, Vectors2 &sourcePoints, Vectors2 &targetPoints, const unsigned int patchSize, const unsigned int maximalDistance=32u, const unsigned int coarsestLayerRadius=8u, const CV::FramePyramid::DownsamplingMode downsamplingMode=CV::FramePyramid::DM_FILTER_14641, Worker *worker=nullptr)
	Determines point correspondences between two camera frames captured with individual locations (describable by a homography) by application of a pyramid-based patch tracking approach. More...

static bool	determinePointCorrespondencesHomography (const CV::FramePyramid &sourceFramePyramid, const Frame &targetFrame, const SquareMatrix3 &homography, const Vectors2 &sourcePointCandidates, Vectors2 &validSourcePoints, Vectors2 &validTargetPoints, Indices32 &validSourcePointIndices, const unsigned int patchSize, const unsigned int maximalDistance=32u, const unsigned int coarsestLayerRadius=8u, const CV::FramePyramid::DownsamplingMode downsamplingMode=CV::FramePyramid::DM_FILTER_14641, Worker worker=nullptr, size_t usedPointCandidates=nullptr)
	Determines point correspondences between two camera frames captured with individual locations (describable by a homography) by application of a pyramid-based patch tracking approach. More...

static bool	nonHomographyMask (const CV::FramePyramid &previousFramePyramid, const CV::FramePyramid &currentFramePyramid, const PinholeCamera &previousCamera, const PinholeCamera &currentCamera, const SquareMatrix3 &previousOrientation, const SquareMatrix3 &currentOrientation, const uint8_t maskValue, Frame &currentMask, Worker *worker=nullptr)
	This function determines a mask for image areas not matching with the common homography between two successive camera frames. More...

static bool	optimizeCamera (const PinholeCamera &pinholeCamera, const Frames &frames, const SquareMatrices3 &orientations, PinholeCamera &optimizedCamera, Worker *worker=nullptr)
	Optimizes the camera profile for a given set of camera frames with known orientations so that the offset between corresponding points in the individual camera frames becomes as small as possible. More...

static bool	optimizeCamera (const PinholeCamera &pinholeCamera, const SquareMatrices3 &orientations, const ImagePoints &imagePoints, const PoseImagePointPairGroups &orientationImagePointPairGroups, PinholeCamera &optimizedCamera, SquareMatrices3 &optimizedOrientations, const unsigned int iterations=20u, const Geometry::Estimator::EstimatorType estimator=Geometry::Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), Scalar initialError=nullptr, Scalar finalError=nullptr, Scalars *intermediateErrors=nullptr)
	Optimizes the camera profile for a given set of image points from individual camera frames so that the offset between the corresponding points becomes as small as possible. More...

static bool	findInitialFieldOfView (const unsigned int width, const unsigned int height, const SquareMatrices3 &orientations, const ImagePoints &imagePoints, const PoseImagePointPairGroups &orientationImagePointPairGroups, PinholeCamera &optimizedCamera, SquareMatrices3 &optimizedOrientations, const Scalar lowerFovX=Numeric::deg2rad(40), const Scalar upperFovX=Numeric::deg2rad(90), const unsigned int steps=10u)
	Determines the initial field of view for a set of camera frames with known orientation and a corresponding set of unique features observed in several individual frames. More...

static bool	determineTransformationTable2x2 (const unsigned int width, const unsigned int height, const Vectors2 &points0, const Vectors2 &points1, LookupCorner2< Vector2 > &transformation0to1, const unsigned int iterations=20u, const Geometry::Estimator::EstimatorType estimator=Geometry::Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), Scalar initialError=nullptr, Scalar finalError=nullptr)
	Determines a 2x2 transformation table (a lookup table) transforming a set of points (defined in the domain of the transformation table) to another set of points. More...

Static Public Member Functions inherited from Ocean::CV::Advanced::PanoramaFrame
static bool	haveIntersectionByInnerFov (const PinholeCamera &pinholeCamera0, const SquareMatrix3 &orientation0, const PinholeCamera &pinholeCamera1, const SquareMatrix3 &orientation1, Scalar *overlappingPercent=nullptr)
	Checks whether two camera frames have a guaranteed intersection. More...

static bool	haveIntersectionByRays (const PinholeCamera &pinholeCamera0, const SquareMatrix3 &orientation0, const PinholeCamera &pinholeCamera1, const SquareMatrix3 &orientation1, const Scalar borderFactor=Scalar(0.1), const unsigned int minimalIntersections=2u)
	Checks whether two camera frames have a guaranteed intersection. More...

static Scalar	approximateIntersectionArea (const PinholeCamera &pinholeCamera0, const SquareMatrix3 &orientation0, const PinholeCamera &pinholeCamera1, const SquareMatrix3 &orientation1, Scalar *intersectionRatio=nullptr)
	Approximate the area of the intersection of two frames. More...

static Vector2	angle2pixel (const Vector2 &angle, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight)
	Converts an angle in the entire (maximal possible) panorama frame to the corresponding pixel position in the entire panorama frame. More...

static Vector2	angle2pixelStrict (const Vector2 &angle, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight)
	Converts an angle in the entire (maximal possible) panorama frame to the corresponding pixel position in the entire panorama frame. More...

static Vector2	pixel2angle (const Vector2 &position, const Scalar invPanoramaDimensionWidth, const Scalar invPanoramaDimensionHeight)
	Converts a pixel position in the entire (maximal possible) panorama frame (or outside this panorama frame) to the corresponding angle in the entire panorama frame. More...

static Vector2	pixel2angleStrict (const Vector2 &position, const Scalar invPanoramaDimensionWidth, const Scalar invPanoramaDimensionHeight)
	Converts a pixel position in the entire (maximal possible) panorama frame to the corresponding angle in the entire panorama frame. More...

static Vector2	ray2angle (const Vector3 &ray, const Vector2 &referenceAngle)
	Converts a unit ray starting at the panorama frame's center to the corresponding angle. More...

static Vector2	ray2angleStrict (const Vector3 &ray)
	Converts a unit ray starting at the panorama frame's center to the corresponding angle. More...

static Vector3	angle2ray (const Vector2 &angle)
	Converts an angle in the panorama frame to a unit ray starting at the panorama frame's center. More...

static Vector3	angle2rayStrict (const Vector2 &angle)
	Converts an angle in the panorama frame to a unit ray starting at the panorama frame's center. More...

static Vector2	cameraPixel2cameraPixel (const PinholeCamera &inputCamera, const SquareMatrix3 &inputOrientation, const Vector2 &inputPosition, const PinholeCamera &outputCamera, const SquareMatrix3 &outputOrientation)
	Converts a camera pixel position defined in one frame into a camera pixel position defined in another frame. More...

static bool	cameraFrame2cameraFrame (const PinholeCamera &inputCamera, const SquareMatrix3 &inputOrientation, const Frame &inputFrame, const Frame &inputMask, const PinholeCamera &outputCamera, const SquareMatrix3 &outputOrientation, Frame &outputFrame, Frame &outputMask, const uint8_t maskValue, const unsigned int approximationBinSize, Worker *worker)
	Converts a given input camera frame captured with a given orientation into a corresponding camera frame with different orientation. More...

static bool	panoramaFrame2cameraFrame (const PinholeCamera &pinholeCamera, const Frame &panoramaFrame, const Frame &panoramaMask, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const PixelPosition &panoramaFrameTopLeft, const SquareMatrix3 &orientation, Frame &cameraFrame, Frame &cameraMask, const uint8_t maskValue=0xFFu, const unsigned int approximationBinSize=20u, Worker worker=nullptr, const LookupTable fineAdjustment=nullptr)
	Copies (interpolates) a section from the entire panorama frame to a camera frame with specified camera orientation. More...

static bool	cameraFrame2panoramaFrame (const PinholeCamera &pinholeCamera, const Frame &cameraFrame, const SquareMatrix3 &orientation, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const PixelPositionI &panoramaFrameTopLeft, Frame &panoramaFrame, Frame &panoramaMask, const uint8_t maskValue=0xFFu, const unsigned int approximationBinSize=20u, Worker worker=nullptr, const LookupTable fineAdjustment=nullptr)
	Copies (interpolates) the entire area of a camera frame with specified camera orientation to a section of an entire panorama frame. More...

static bool	cameraFrame2panoramaFrame (const PinholeCamera &pinholeCamera, const Frame &cameraFrame, const Frame &cameraMask, const SquareMatrix3 &orientation, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const PixelPositionI &panoramaFrameTopLeft, Frame &panoramaFrame, Frame &panoramaMask, const uint8_t maskValue=0xFFu, const unsigned int approximationBinSize=20u, Worker worker=nullptr, const LookupTable fineAdjustment=nullptr)
	Copies (interpolates) the a subset of a camera frame (specified by a mask) with specified camera orientation to a section of an entire panorama frame. More...

template<unsigned int tChannels>
static void	cameraFrame2cameraFrame8BitPerChannel (const PinholeCamera &inputCamera, const SquareMatrix3 &inputOrientation, const uint8_t inputFrame, const uint8_t inputMask, const unsigned int inputFramePaddingElements, const unsigned int inputMaskPaddingElements, const PinholeCamera &outputCamera, const SquareMatrix3 &outputOrientation, uint8_t outputFrame, uint8_t outputMask, const unsigned int outputFramePaddingElements, const unsigned int outputMaskPaddingElements, const uint8_t maskValue, const unsigned int approximationBinSize, Worker *worker)
	Converts a given input camera frame with 8 bit per channel captured with a given orientation into a corresponding camera frame with different orientation. More...

template<unsigned int tChannels>
static void	panoramaFrame2cameraFrame8BitPerChannel (const PinholeCamera &pinholeCamera, const uint8_t panoramaFrame, const uint8_t panoramaMask, const unsigned int panoramaFrameWidth, const unsigned int panoramaFrameHeight, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const PixelPosition &panoramaFrameTopLeft, const SquareMatrix3 &orientation, uint8_t cameraFrame, uint8_t cameraMask, const unsigned int cameraFramePaddingElements, const unsigned int cameraMaskPaddingElements, const uint8_t maskValue=0xFFu, const unsigned int approximationBinSize=20u, Worker worker=nullptr, const LookupTable fineAdjustment=nullptr)
	Copies (interpolates) a section from the entire panorama frame with 8 bit per data channel to a camera frame with specified camera orientation. More...

template<unsigned int tChannels>
static void	cameraFrame2panoramaFrame8BitPerChannel (const PinholeCamera &pinholeCamera, const uint8_t cameraFrame, const unsigned int cameraFramePaddingElements, const SquareMatrix3 &orientation, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const PixelPositionI &panoramaFrameTopLeft, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaFrameWidth, const unsigned int panoramaFrameHeight, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const uint8_t maskValue=0xFFu, const unsigned int approximationBinSize=20u, Worker worker=nullptr, const LookupTable *fineAdjustment=nullptr)
	Copies (interpolates) the entire area of an 8 bit per data channel camera frame with specified camera orientation to a section of an entire panorama frame. More...

template<unsigned int tChannels>
static void	cameraFrame2panoramaFrameMask8BitPerChannel (const PinholeCamera &pinholeCamera, const uint8_t cameraFrame, const uint8_t cameraMask, const unsigned int cameraFramePaddingElements, const unsigned int cameraMaskPaddingElements, const SquareMatrix3 &orientation, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const PixelPositionI &panoramaFrameTopLeft, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaFrameWidth, const unsigned int panoramaFrameHeight, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const uint8_t maskValue=0xFFu, const unsigned int approximationBinSize=20u, Worker worker=nullptr, const LookupTable fineAdjustment=nullptr)
	Copies (interpolates) a subset of an 8 bit per data channel camera frame (specified by a mask) with specified camera orientation to a section of an entire panorama frame. More...

Protected Types
typedef std::vector< uint8_t >	Buffer
	Definition of a vector holding 8 bit characters. More...

typedef std::vector< Buffer >	Buffers
	Definition of a vector holding buffers. More...

typedef std::unordered_map< uint32_t, uint32_t >	IndexMap
	Definition of a map mapping indices. More...

typedef std::multimap< uint64_t, uint64_t >	FeaturePointMap
	Definition of a map mapping unique frame-feature-point-ids to unique frame-feature-point-ids. More...

Protected Types inherited from Ocean::CV::Advanced::PanoramaFrame
typedef LookupCorner2< Vector2 >	LookupTable
	Definition of a lookup table for 2D vectors. More...

Static Protected Member Functions
template<unsigned int tSize>
static Buffer	interpolateSquarePatches (const Frame &frame, const Vectors2 &positions, Worker *worker=nullptr)
	Interpolates square image patches with sub-pixel position and stores the image content as patch buffer. More...

template<unsigned int tChannels, unsigned int tSize>
static void	interpolateSquarePatches8BitPerChannel (const uint8_t frame, const unsigned int width, const unsigned int height, const unsigned int framePaddingElements, const Vectors2 &positions, uint8_t result, Worker *worker=nullptr)
	Interpolates square image patches with sub-pixel position and stores the image content as patch buffer. More...

template<unsigned int tChannels, unsigned int tSize>
static void	interpolateSquarePatches8BitPerChannelSubset (const uint8_t frame, const unsigned int width, const unsigned int height, const unsigned int framePaddingElements, const Vector2 positions, uint8_t *result, const unsigned int firstPosition, const unsigned int numberPositions)
	Interpolates a subset of square image patches with sub-pixel position and stores the image content as patch buffer. More...

template<unsigned int tSize>
static IndexPairs32	findBijectiveCorrespondences (const PinholeCamera &camera0, const PinholeCamera &camera1, const FrameType::PixelFormat pixelFormat, const SquareMatrix3 &orientation0, const SquareMatrix3 &orientation1, const Buffer &buffer0, const Buffer &buffer1, const Vectors2 &points0, const Vectors2 &points1, const Geometry::SpatialDistribution::DistributionArray &distribution0, const Geometry::SpatialDistribution::DistributionArray &distribution1, Worker *worker)
	Finds unique bijective point correspondences between two given camera frames from a set of already detected unique feature points. More...

template<unsigned int tChannels, unsigned int tSize>
static IndexPairs32	findBijectiveCorrespondences8BitPerChannel (const PinholeCamera &camera0, const PinholeCamera &camera1, const SquareMatrix3 &orientation0, const SquareMatrix3 &orientation1, const uint8_t datas0, const uint8_t datas1, const Vectors2 &points0, const Vectors2 &points1, const Geometry::SpatialDistribution::DistributionArray &distribution0, const Geometry::SpatialDistribution::DistributionArray &distribution1, Worker *worker)
	Finds unique bijective point correspondences between two given camera frames with eight bit per channel from a set of already detected unique feature points. More...

template<unsigned int tChannels, unsigned int tSize>
static IndexPairs32	findBidirectionalCorrespondences8BitPerChannel (const PinholeCamera &camera0, const PinholeCamera &camera1, const SquareMatrix3 &orientation0, const SquareMatrix3 &orientation1, const uint8_t datas0, const uint8_t datas1, const Vectors2 &points0, const Vectors2 &points1, const Geometry::SpatialDistribution::DistributionArray &distribution0, const Geometry::SpatialDistribution::DistributionArray &distribution1, Worker *worker)
	Finds bidirectional point correspondences between two given camera frames with eight bit per channel from a set of already detected unique feature points. More...

template<unsigned int tChannels, unsigned int tSize>
static void	findBidirectionalCorrespondences8BitPerChannelSubset (const PinholeCamera camera0, const PinholeCamera camera1, const SquareMatrix3 orientation0, const SquareMatrix3 orientation1, const uint8_t datas0, const uint8_t datas1, const Vectors2 points0, const Vectors2 points1, const Geometry::SpatialDistribution::DistributionArray distribution0, const Geometry::SpatialDistribution::DistributionArray distribution1, Lock lock, IndexPairs32 results, const unsigned int firstPoint, const unsigned int numberPoints)
	Finds subsets of bidirectional point correspondences between two given camera frames with eight bit per channel from a set of already detected unique feature points. More...

template<unsigned int tChannels, unsigned int tSize>
static unsigned int	findCorrespondingPoint8BitPerChannel (const uint8_t data0, const uint8_t datas1, const Indices32 &indices)
	Finds a corresponding patch for a given patch from a second set of patches. More...

static std::vector< Indices64 >	determineFeaturePointsFromPointCloud (const FeaturePointMap &correspondences, const unsigned int minSiblings=0u)
	Determines a set of corresponding image points representing the same unique feature point (only observed in individual camera frames). More...

static FeaturePointMap::const_iterator	determineSiblings (const FeaturePointMap &correspondences, const FeaturePointMap::const_iterator &iStart, UnorderedIndexSet64 &siblings, UnorderedIndexSet64 &usedSet, IndexMap &frameSet)
	Determines all sibling image point correspondences for a given correspondence. More...

static uint64_t	uniqueFeaturePointId (const uint32_t frameIndex, const uint32_t pointIndex)
	Creates a unique ids for a given frame index and points index located in the frame. More...

static uint32_t	frameIndex (const uint64_t id)
	Extracts the frame index of a unique feature point id. More...

static uint32_t	pointIndex (const uint64_t id)
	Extracts the point index of a unique feature point id. More...

Static Protected Member Functions inherited from Ocean::CV::Advanced::PanoramaFrame
static void	cameraFrame2cameraFrameLookupTable (const PinholeCamera &inputCamera, const SquareMatrix3 &world_R_input, const PinholeCamera &outputCamera, const SquareMatrix3 &world_R_output, LookupTable &input_LT_output)
	Creates a 2D lookup table allowing to interpolate pixel locations defined in one camera frame to pixel locations defined in another camera frame. More...

static void	panoramaFrame2cameraFrameLookupTable (const PinholeCamera &pinholeCamera, const SquareMatrix3 &orientation, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const PixelPosition &panoramaFrameTopLeft, LookupTable &lookupTable, const LookupTable *fineAdjustment)
	Creates a 2D lookup table allowing to interpolate positions defined in the camera frame to positions defined in the panorama sub-frame. More...

static void	cameraFrame2panoramaFrameLookupTable (const PinholeCamera &pinholeCamera, const SquareMatrix3 &orientation, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const PixelPositionI &panoramaFrameTopLeft, LookupTable &lookupTable, const LookupTable *fineAdjustment)
	Creates a 2D lookup table allowing to interpolate positions defined in the entire panorama frame to positions defined in the camera frame. More...

template<unsigned int tChannels>
static void	mergeSetAll8BitPerChannel (const uint8_t panoramaSubFrame, const uint8_t panoramaSubMask, const unsigned int subFrameWidth, const unsigned int subFrameHeight, const unsigned int panoramaSubFramePaddingElements, const unsigned panoramaSubMaskPaddingElements, const PixelPosition &subTopLeft, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaWidth, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const PixelPosition &panoramaTopLeft, const uint8_t maskValue, Worker *worker=nullptr)
	Merges a given panorama sub frame with the already existing panorama frame by setting all valid pixels of the sub frame. More...

template<unsigned int tChannels>
static void	mergeSetNew8BitPerChannel (const uint8_t panoramaSubFrame, const uint8_t panoramaSubMask, const unsigned int subFrameWidth, const unsigned int subFrameHeight, const unsigned int panoramaSubFramePaddingElements, const unsigned panoramaSubMaskPaddingElements, const PixelPosition &subTopLeft, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaWidth, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const PixelPosition &panoramaTopLeft, const uint8_t maskValue, Worker *worker=nullptr)
	Merges a given panorama sub frame with the already existing panorama frame by setting only pixels which haven't been set before. More...

template<unsigned int tChannels>
static void	mergeAverageLocal8BitPerChannel (const uint8_t panoramaSubFrame, const uint8_t panoramaSubMask, const unsigned int subFrameWidth, const unsigned int subFrameHeight, const unsigned int panoramaSubFramePaddingElements, const unsigned panoramaSubMaskPaddingElements, const PixelPosition &subTopLeft, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaWidth, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const PixelPosition &panoramaTopLeft, const uint8_t maskValue, Worker *worker=nullptr)
	Merges a given panorama sub frame with the already existing panorama frame by averaging the current pixel value with the given pixel value. More...

template<unsigned int tChannels>
static void	mergeAverageGlobal8BitPerChannel (const uint8_t panoramaSubFrame, const uint8_t panoramaSubMask, const unsigned int subFrameWidth, const unsigned int subFrameHeight, const unsigned int panoramaSubFramePaddingElements, const unsigned panoramaSubMaskPaddingElements, const PixelPosition &subTopLeft, uint32_t panoramaNominatorFrame, uint32_t panoramaDenominatorFrame, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaWidth, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const PixelPosition &panoramaTopLeft, const uint8_t maskValue, Worker *worker=nullptr)
	Merges a given panorama sub frame with the already existing panorama frame by averaging the all pixel values from the past and the current pixel values. More...

template<unsigned int tChannels>
static void	mergeSetAll8BitPerChannelSubset (const uint8_t panoramaSubFrame, const uint8_t panoramaSubMask, const unsigned int subFrameWidth, const unsigned int panoramaSubFramePaddingElements, const unsigned int panoramaSubMaskPaddingElements, const unsigned int subTopLeftX, const unsigned int subTopLeftY, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaWidth, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const unsigned int panoramaTopLeftX, const unsigned int panoramaTopLeftY, const uint8_t maskValue, const unsigned int firstSubRow, const unsigned int numberSubRows)
	Merges a subset of a given panorama sub frame with the already existing panorama frame by setting all valid pixels of the sub frame. More...

template<unsigned int tChannels>
static void	mergeSetNew8BitPerChannelSubset (const uint8_t panoramaSubFrame, const uint8_t panoramaSubMask, const unsigned int subFrameWidth, const unsigned int panoramaSubFramePaddingElements, const unsigned int panoramaSubMaskPaddingElements, const unsigned int subTopLeftX, const unsigned int subTopLeftY, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaWidth, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const unsigned int panoramaTopLeftX, const unsigned int panoramaTopLeftY, const uint8_t maskValue, const unsigned int firstSubRow, const unsigned int numberSubRows)
	Merges a subset of a given panorama sub frame with the already existing panorama frame by setting only pixels which haven't been set before. More...

template<unsigned int tChannels>
static void	mergeAverageLocal8BitPerChannelSubset (const uint8_t panoramaSubFrame, const uint8_t panoramaSubMask, const unsigned int subFrameWidth, const unsigned int panoramaSubFramePaddingElements, const unsigned int panoramaSubMaskPaddingElements, const unsigned int subTopLeftX, const unsigned int subTopLeftY, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaWidth, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const unsigned int panoramaTopLeftX, const unsigned int panoramaTopLeftY, const uint8_t maskValue, const unsigned int firstSubRow, const unsigned int numberSubRows)
	Merges a subset of a given panorama sub frame with the already existing panorama frame by averaging the current pixel value with the given pixel value. More...

template<unsigned int tChannels>
static void	mergeAverageGlobal8BitPerChannelSubset (const uint8_t panoramaSubFrame, const uint8_t panoramaSubMask, const unsigned int subFrameWidth, const unsigned int panoramaSubFramePaddingElements, const unsigned int panoramaSubMaskPaddingElements, const unsigned int subTopLeftX, const unsigned int subTopLeftY, uint32_t panoramaNominatorFrame, uint32_t panoramaDenominatorFrame, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaWidth, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const unsigned int panoramaTopLeftX, const unsigned int panoramaTopLeftY, const uint8_t maskValue, const unsigned int firstSubRow, const unsigned int numberSubRows)
	Merges a subset of a given panorama sub frame with the already existing panorama frame by averaging the all pixel values from the past and the current pixel values. More...

template<unsigned int tChannels>
static void	cameraFrame2cameraFrame8BitPerChannelSubset (const PinholeCamera inputCamera, const SquareMatrix3 inputOrientation, const uint8_t inputFrame, const unsigned int inputFramePaddingElements, const PinholeCamera outputCamera, const SquareMatrix3 outputOrientation, uint8_t outputFrame, uint8_t *outputMask, const unsigned int outputFramePaddingElements, const unsigned int outputMaskPaddingElements, const uint8_t maskValue, const unsigned int firstOutputRow, const unsigned int numberOutputRows)
	Converts a subset of a given input camera frame with 8 bit per channel captured with a given orientation into a corresponding camera frame with different orientation. More...

template<unsigned int tChannels>
static void	cameraFrame2cameraFrameLookup8BitPerChannelSubset (const LookupTable lookupTable, const uint8_t inputFrame, const unsigned int inputWidth, const unsigned int inputHeight, const unsigned int inputFramePaddingElements, uint8_t outputFrame, uint8_t outputMask, const unsigned int outputFramePaddingElements, const unsigned int outputMaskPaddingElements, const uint8_t maskValue, const unsigned int firstOutputRow, const unsigned int numberOutputRows)
	Converts a subset of a given input camera frame with 8 bit per channel captured with a given orientation into a corresponding camera frame with different orientation. More...

template<unsigned int tChannels>
static void	cameraFrame2cameraFrameMask8BitPerChannelSubset (const PinholeCamera inputCamera, const SquareMatrix3 inputOrientation, const uint8_t inputFrame, const uint8_t inputMask, const unsigned int inputFramePaddingElements, const unsigned int inputMaskPaddingElements, const PinholeCamera outputCamera, const SquareMatrix3 outputOrientation, uint8_t outputFrame, uint8_t outputMask, const unsigned int outputFramePaddingElements, const unsigned int outputMaskPaddingElements, const uint8_t maskValue, const unsigned int firstOutputRow, const unsigned int numberOutputRows)
	Converts a subset of a given input camera frame with 8 bit per channel captured with a given orientation into a corresponding camera frame with different orientation. More...

template<unsigned int tChannels>
static void	cameraFrame2cameraFrameMaskLookup8BitPerChannelSubset (const LookupTable lookupTable, const uint8_t inputFrame, const uint8_t inputMask, const unsigned int inputWidth, const unsigned int inputHeight, const unsigned int inputFramePaddingElements, const unsigned int inputMaskPaddingElements, uint8_t outputFrame, uint8_t *outputMask, const unsigned int outputFramePaddingElements, const unsigned int outputMaskPaddingElements, const uint8_t maskValue, const unsigned int firstOutputRow, const unsigned int numberOutputRows)
	Converts a subset of a given input camera frame with 8 bit per channel captured with a given orientation into a corresponding camera frame with different orientation. More...

template<unsigned int tChannels>
static void	panoramaFrame2cameraFrame8BitPerChannelSubset (const PinholeCamera pinholeCamera, const uint8_t panoramaFrame, const uint8_t panoramaMask, const unsigned int panoramaFrameWidth, const unsigned int panoramaFrameHeight, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const unsigned int panoramaFrameTopLeftX, const unsigned int panoramaFrameTopLeftY, const SquareMatrix3 orientation, uint8_t cameraFrame, uint8_t cameraMask, const unsigned int cameraFramePaddingElements, const unsigned int cameraMaskPaddingElements, const uint8_t maskValue, const LookupTable *fineAdjustment, const unsigned int firstCameraRow, const unsigned int numberCameraRows)
	Copies (interpolates) a subset of a section from the entire panorama frame with 8 bit per data channel to a camera frame with specified camera orientation. More...

template<unsigned int tChannels>
static void	panoramaFrame2cameraFrameLookup8BitPerChannelSubset (const LookupTable lookupTable, const uint8_t panoramaFrame, const uint8_t panoramaMask, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const unsigned int panoramaFrameTopLeftX, const unsigned int panoramaFrameTopLeftY, const unsigned int panoramaFrameWidth, const unsigned int panoramaFrameHeight, uint8_t cameraFrame, uint8_t *cameraMask, const unsigned int cameraFramePaddingElements, const unsigned int cameraMaskPaddingElements, const uint8_t maskValue, const unsigned int firstCameraRow, const unsigned int numberCameraRows)
	Copies (interpolates) a subset of a section from the entire panorama frame with 8 bit per data channel to a camera frame with specified camera orientation. More...

template<unsigned int tChannels>
static void	cameraFrame2panoramaFrame8BitPerChannelSubset (const PinholeCamera pinholeCamera, const uint8_t cameraFrame, const unsigned int cameraFramePaddingElements, const SquareMatrix3 orientation, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const int panoramaFrameTopLeftX, const int panoramaFrameTopLeftY, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaFrameWidth, const unsigned int panoramaFrameHeight, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const uint8_t maskValue, const LookupTable fineAdjustment, const unsigned int firstPanoramaRow, const unsigned int numberPanoramaRows)
	Copies (interpolates) the entire area of an 8 bit per data channel camera frame with specified camera orientation to a subset of a section of an entire panorama frame. More...

template<unsigned int tChannels>
static void	cameraFrame2panoramaFrameLookup8BitPerChannelSubset (const LookupTable lookupTable, const uint8_t cameraFrame, const unsigned int cameraFrameWidth, const unsigned int cameraFrameHeight, const unsigned int cameraFramePaddingElements, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const uint8_t maskValue, const unsigned int firstPanoramaRow, const unsigned int numberPanoramaRows)
	Copies (interpolates) the entire area of an 8 bit per data channel camera frame with specified camera orientation to a subset of a section of an entire panorama frame. More...

template<unsigned int tChannels>
static void	cameraFrame2panoramaFrameMask8BitPerChannelSubset (const PinholeCamera pinholeCamera, const uint8_t cameraFrame, const uint8_t cameraMask, const unsigned int cameraFramePaddingElements, const unsigned int cameraMaskPaddingElements, const SquareMatrix3 orientation, const unsigned int panoramaDimensionWidth, const unsigned int panoramaDimensionHeight, const int panoramaFrameTopLeftX, const int panoramaFrameTopLeftY, uint8_t panoramaFrame, uint8_t panoramaMask, const unsigned int panoramaFrameWidth, const unsigned int panoramaFrameHeight, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const uint8_t maskValue, const LookupTable *fineAdjustment, const unsigned int firstPanoramaRow, const unsigned int numberPanoramaRows)
	Copies (interpolates) a subset of an 8 bit per data channel camera frame (specified by a mask) with specified camera orientation to subset of a section of an entire panorama frame. More...

template<unsigned int tChannels>
static void	cameraFrame2panoramaFrameMaskLookup8BitPerChannelSubset (const LookupTable lookupTable, const uint8_t cameraFrame, const uint8_t cameraMask, const unsigned int cameraFrameWidth, const unsigned int cameraFrameHeight, const unsigned int cameraFramePaddingElements, const unsigned int cameraMaskPaddingElements, uint8_t panoramaFrame, uint8_t *panoramaMask, const unsigned int panoramaFramePaddingElements, const unsigned int panoramaMaskPaddingElements, const uint8_t maskValue, const unsigned int firstPanoramaRow, const unsigned int numberPanoramaRows)
	Copies (interpolates) a subset of an 8 bit per data channel camera frame (specified by a mask) with specified camera orientation to subset of a section of an entire panorama frame. More...

static Vectors2	generateFrameContour (const unsigned int width, const unsigned int height, const unsigned int count)
	Creates are contour of (the outside of) a camera frame. More...

Protected Attributes
SquareMatrix3	initialOrientation_ = SquareMatrix3(true)
	The initial orientation of the first camera frame. More...

SquareMatrix3	previousOrientation_ = SquareMatrix3(false)
	The orientation of the camera of the most recent frame. More...

PinholeCamera	previousCamera_
	The camera profile of the most recent frame. More...

CV::FramePyramid	previousFramePyramid_
	The frame pyramid of the most recent frame. More...

Protected Attributes inherited from Ocean::CV::Advanced::PanoramaFrame
Frame	frame_
	The actual panorama frame, may be a sub-frame of the entire panorama frame. More...

Frame	mask_
	The mask of the panorama frame defining valid and invalid pixels. More...

Frame	nominatorFrame_
	The optional nominator frame of the panorama frame, necessary if UM_AVERAGE_GLOBAL is set as update mode. More...

Frame	denominatorFrame_
	The optional denominator frame of the panorama frame, necessary if UM_AVERAGE_GLOBAL is set as update mode. More...

unsigned int	dimensionWidth_ = 0u
	The maximal width of the panorama frame representing horizontal 360 degrees, in pixel. More...

unsigned int	dimensionHeight_ = 0u
	The maximal height of the panorama frame representing vertical 180 degrees, in pixel. More...

Scalar	invertedDimensionWidth_ = Scalar(0)
	The inverse of the maximal width of the panorama frame, panoramaInvDimensionWidth = (1 / panoramaDimensionWidth). More...

Scalar	invertedDimensionHeight_ = Scalar(0)
	The inverse of the maximal height of the panorama frame, panoramaInvDimensionHeight = (1 / panoramaDimensionHeight). More...

PixelPosition	frameTopLeft_ = CV::PixelPosition((unsigned int)(-1), (unsigned int)(-1))
	The top left position of the sub-frame of the entire panorama frame. More...

uint8_t	maskValue_ = 0xFFu
	The mask value defining the mask value of valid pixels. More...

UpdateMode	updateMode_ = UM_INVALID
	The update mode of this panorama frame. More...

Additional Inherited Members
Protected Member Functions inherited from Ocean::CV::Advanced::PanoramaFrame
Box2	panoramaSubFrameBoundingBox (const PinholeCamera &pinholeCamera, const SquareMatrix3 &orientation) const
	Determines the bounding box for a camera frame with given orientation in the panorama frame. More...

bool	update (const PinholeCamera &pinholeCamera, const Frame &frame, const Frame &mask, const SquareMatrix3 &orientation, const unsigned int approximationBinSize=20u, Worker worker=nullptr, const LookupTable fineAdjustment=nullptr)
	Updates the panorama frame data with a new camera frame. More...

bool	reset (const PinholeCamera &pinholeCamera, const Frame &frame, const SquareMatrix3 &orientation, const unsigned int approximationBinSize=20u, Worker *worker=nullptr)
	Resets the panorama frame of this object by one new single camera frame. More...

bool	reset (const PixelPosition &topLeft, const Frame &frame, const Frame &mask, Worker *worker=nullptr)
	Resets the panorama frame of this object by one new panorama sub-frame. More...

void	resize (const PixelPosition &topLeft, const unsigned int width, const unsigned int height)
	Resizes the internal panorama sub-frame. More...

bool	merge (const Frame &panoramaSubFrame, const Frame &panoramaSubMask, const PixelPosition &subTopLeft, Worker *worker=nullptr)
	Merges a given panorama sub-frame with given top left start position with the panorama frame of this object by application of the update mode of this object. More...

Detailed Description

This class implements a spherical environment based on a panorama frame.

The environment can be extended by new camera frame with unknown orientation as long as the orientation offset between successive frames is not too large.
Further, the environment can be used to determine the orientation of a given camera frame capturing an already known area.

Member Typedef Documentation

◆ Buffer

typedef std::vector<uint8_t> Ocean::Tracking::SphericalEnvironment::Buffer

protected

Definition of a vector holding 8 bit characters.

◆ Buffers

typedef std::vector<Buffer> Ocean::Tracking::SphericalEnvironment::Buffers

protected

Definition of a vector holding buffers.

◆ FeaturePointMap

typedef std::multimap<uint64_t, uint64_t> Ocean::Tracking::SphericalEnvironment::FeaturePointMap

protected

Definition of a map mapping unique frame-feature-point-ids to unique frame-feature-point-ids.

◆ FrameCallback

typedef Callback<bool, const CV::FramePyramid&, const CV::FramePyramid&, const PinholeCamera&, const PinholeCamera&, const SquareMatrix3&, const SquareMatrix3&, const uint8_t, Frame&, Worker*> Ocean::Tracking::SphericalEnvironment::FrameCallback

Definition of a callback function allowing to determine an update mask for a current camera frame.

Parameter 0: The frame pyramid of the previous frame Parameter 1: The frame pyramid of the current frame Parameter 2: The camera profile of the previous frame Parameter 3: The camera profile of the current frame Parameter 4: The camera orientation of the previous frame Parameter 5: The camera orientation of the current frame Parameter 6: The mask value for static image content Parameter 7: The resulting update mask frame Parameter 8: An optional worker object Return value: True, if the camera frame can be used to update the panorama frame

◆ IndexMap

typedef std::unordered_map<uint32_t, uint32_t> Ocean::Tracking::SphericalEnvironment::IndexMap

protected

Definition of a map mapping indices.

◆ PoseImagePointPairGroups

typedef std::vector<IndexPairs32> Ocean::Tracking::SphericalEnvironment::PoseImagePointPairGroups

Definition of a vector holding groups of pairs between camera pose ids and image point ids.

Constructor & Destructor Documentation

◆ SphericalEnvironment() [1/2]

Ocean::Tracking::SphericalEnvironment::SphericalEnvironment ( )

default

Creates an invalid spherical environment object.

◆ SphericalEnvironment() [2/2]

Ocean::Tracking::SphericalEnvironment::SphericalEnvironment	(	const unsigned int	panoramaDimensionWidth,
		const unsigned int	panoramaDimensionHeight,
		const uint8_t	maskValue,
		const UpdateMode	frameMode
	)

inline

Creates a new spherical environment object.

Parameters

panoramaDimensionWidth	The width of the entire panorama frame (the maximal possible size) representing horizontal 360 degrees, in pixel with range [1, infinity)
panoramaDimensionHeight	The height of the entire panorama frame (the maximal possible size) representing vertical 180 degrees, in pixel with range [1, infinity)
maskValue	The mask value defining the 8 bit pixel value of valid pixels
frameMode	The update mode of this panorama frame

Member Function Documentation

◆ clear()

virtual void Ocean::Tracking::SphericalEnvironment::clear ( )

virtual

Clears the panorama frame and allows to set a new first camera frame.

See also: PanoramaFrame::clear().

Reimplemented from Ocean::CV::Advanced::PanoramaFrame.

◆ determineFeaturePointsFromPointCloud()

static std::vector<Indices64> Ocean::Tracking::SphericalEnvironment::determineFeaturePointsFromPointCloud	(	const FeaturePointMap &	correspondences,
		const unsigned int	minSiblings = `0u`
	)

staticprotected

Determines a set of corresponding image points representing the same unique feature point (only observed in individual camera frames).

Parameters

correspondences	All possible correspondences from which the set will be extracted
minSiblings	The minimal number of image points which are necessary to define one unique feature point (the minimal number of frames in which the feature point has been observed), 0u if any number is welcome

Returns: The set of unique feature points

◆ determinePointCorrespondencesHomography() [1/2]

static bool Ocean::Tracking::SphericalEnvironment::determinePointCorrespondencesHomography	(	const CV::FramePyramid &	sourceFramePyramid,
		const Frame &	targetFrame,
		const SquareMatrix3 &	homography,
		const Vectors2 &	sourcePointCandidates,
		Vectors2 &	validSourcePoints,
		Vectors2 &	validTargetPoints,
		Indices32 &	validSourcePointIndices,
		const unsigned int	patchSize,
		const unsigned int	maximalDistance = `32u`,
		const unsigned int	coarsestLayerRadius = `8u`,
		const CV::FramePyramid::DownsamplingMode	downsamplingMode = `CV::FramePyramid::DM_FILTER_14641`,
		Worker *	worker = `nullptr`,
		size_t *	usedPointCandidates = `nullptr`
	)

static

Determines point correspondences between two camera frames captured with individual locations (describable by a homography) by application of a pyramid-based patch tracking approach.

The given homography can be a full 8-DOF homography including e.g., scale and projection.

Parameters

sourceFramePyramid	The frame pyramid of the source frame for which the correspondences will be determined, should hold enough layers, must be valid
targetFrame	The second frame for which the correspondences will be determine, with same pixel format as the first frame, must be valid
homography	The known homography between both frames, transforming points defined in the first frame to points defined in the second frame (pointTargetFrame = H * pointSourceFrame), must be valid
sourcePointCandidates	The candidate of source points out of which the resulting correspondences will be created, defined in the source frame
validSourcePoints	The resulting points of the correspondences, defined in the source frame and a subset of sourcePointCandidates
validTargetPoints	The resulting points of the correspondences, defined in the target frame, one for each source point
validSourcePointIndices	The resulting indices of the candidates of the source points which actually has been used as correspondences, one for each correspondence
patchSize	The size of the patches to be used for tracking, possible values are 7, 15 or 31
maximalDistance	Maximal expected distance (radius) between two tracked correspondences in pixel, with range [1, infinity)
coarsestLayerRadius	The search radius on the coarsest layer, with range [2, infinity)
downsamplingMode	The downsampling mode that is applied to create the pyramid layers
worker	Optional worker object to distribute the computation
usedPointCandidates	Optional resulting number of point candidates that have been used (e.g., that are located inside the intersection of both frames), with range [0, sourcePointCandidates.size()]

Returns: True, if succeeded

◆ determinePointCorrespondencesHomography() [2/2]

static bool Ocean::Tracking::SphericalEnvironment::determinePointCorrespondencesHomography	(	const Frame &	sourceFrame,
		const Frame &	targetFrame,
		const SquareMatrix3 &	homography,
		Vectors2 &	sourcePoints,
		Vectors2 &	targetPoints,
		const unsigned int	patchSize,
		const unsigned int	maximalDistance = `32u`,
		const unsigned int	coarsestLayerRadius = `8u`,
		const CV::FramePyramid::DownsamplingMode	downsamplingMode = `CV::FramePyramid::DM_FILTER_14641`,
		Worker *	worker = `nullptr`
	)

static

Determines point correspondences between two camera frames captured with individual locations (describable by a homography) by application of a pyramid-based patch tracking approach.

The given homography can be a full 8-DOF homography including e.g., scale and projection.

Parameters

sourceFrame	The source frame for which the correspondences will be determined, must be valid
targetFrame	The second frame for which the correspondences will be determine, with same pixel format as the first frame, must be valid
homography	The known homography between both frames, transforming points defined in the first frame to points defined in the second frame (pointTargetFrame = H * pointSourceFrame), must be valid
sourcePoints	The resulting points of the correspondences, defined in the source frame
targetPoints	The resulting points of the correspondences, defined in the target frame, one for each source point
patchSize	The size of the patches to be used for tracking, possible values are 7, 15 or 31
maximalDistance	Maximal expected distance (radius) between two tracked correspondences in pixel, with range [1, infinity)
coarsestLayerRadius	The search radius on the coarsest layer, with range [2, infinity)
downsamplingMode	The downsampling mode that is applied to create the pyramid layers
worker	Optional worker object to distribute the computation

Returns: True, if succeeded

◆ determineSiblings()

static FeaturePointMap::const_iterator Ocean::Tracking::SphericalEnvironment::determineSiblings	(	const FeaturePointMap &	correspondences,
		const FeaturePointMap::const_iterator &	iStart,
		UnorderedIndexSet64 &	siblings,
		UnorderedIndexSet64 &	usedSet,
		IndexMap &	frameSet
	)

staticprotected

Determines all sibling image point correspondences for a given correspondence.

Parameters

correspondences	The set of all correspondences
iStart	The current correspondence for which all sibling correspondences are determined
siblings	The resulting unique ids of all sibling correspondences which have been found
usedSet	A set of unique correspondences which have been used/marked already
frameSet	A map of frame indices counting the number of image points for each frame to valid that a frame holds more than one image point

Returns: The iterator of the next correspondence to be investigated

◆ determineTransformationTable2x2()

static bool Ocean::Tracking::SphericalEnvironment::determineTransformationTable2x2	(	const unsigned int	width,
		const unsigned int	height,
		const Vectors2 &	points0,
		const Vectors2 &	points1,
		LookupCorner2< Vector2 > &	transformation0to1,
		const unsigned int	iterations = `20u`,
		const Geometry::Estimator::EstimatorType	estimator = `Geometry::Estimator::ET_SQUARE`,
		Scalar	lambda = `Scalar(0.001)`,
		const Scalar	lambdaFactor = `Scalar(5)`,
		Scalar *	initialError = `nullptr`,
		Scalar *	finalError = `nullptr`
	)

static

Determines a 2x2 transformation table (a lookup table) transforming a set of points (defined in the domain of the transformation table) to another set of points.

The resulting transformation provides relative transformation offset from one point set to the other point set: points1 = transformation(points0).

Parameters

width	The width of the resulting lookup table, with range [1, infinity)
height	The height of the resulting lookup table, with range [1, infinity)
points0	The set of points lying inside the resulting lookup table, the transformation will provide corrected positions for these points, with ranges [0, width)x[0, height)
points1	The set of points corresponding to the first set of points but having the correct positions, with ranges (-infinity, infinity)x(-infinity, infinity)
transformation0to1	The resulting transformation which will transform points0 to points1
iterations	Number of iterations to be applied at most, if no convergence can be reached
estimator	Robust error estimator to be used
lambda	Initial Levenberg-Marquardt damping value which may be changed after each iteration using the damping factor, with range [0, infinity)
lambdaFactor	Levenberg-Marquardt damping factor to be applied to the damping value, with range [1, infinity)
initialError	Optional resulting averaged pixel error for the given initial parameters, in relation to the defined estimator
finalError	Optional resulting averaged pixel error for the final optimized parameters, in relation to the defined estimator

Returns: True, if succeeded

◆ extendEnvironment()

bool Ocean::Tracking::SphericalEnvironment::extendEnvironment	(	const PinholeCamera &	pinholeCamera,
		const Frame &	frame,
		const unsigned int	approximationBinSize = `20u`,
		const Geometry::Estimator::EstimatorType	fineAdjustmentEstimator = `Geometry::Estimator::ET_INVALID`,
		const bool	optimizeCamera = `false`,
		Worker *	worker = `nullptr`,
		SquareMatrix3 *	orientation = `nullptr`,
		PinholeCamera *	optimizedCamera = `nullptr`,
		const FrameCallback &	frameCallback = `FrameCallback()`
	)

Adds a new camera frame to the panorama frame for which the orientation is unknown.

The frame may be either the first frame of a sequence of frame or a subsequent frame in the sequence as long as the frame content of successive frames does not change too much.
The first frame is assigned with the default camera orientation, the orientation of successive frames is determined automatically.

Parameters

pinholeCamera	The camera profile of the current frame
frame	The camera frame which will be added
approximationBinSize	Optional width of a bin in a lookup table to speedup the in interpolation in pixel, 0u to avoid the application of a lookup table
fineAdjustmentEstimator	A robust estimator type, if the given camera frame will be distorted up to a small scale so that it fits with the already existing image content in the environment
optimizeCamera	True, to optimize the given camera profile, False to use the given camera profile
worker	Optional worker object to distribute the computation
orientation	Optional the resulting orientation of the given camera frame, with respect to the default orientation of the first camera frame
optimizedCamera	Optional resulting optimized camera profile
frameCallback	Optional callback function that is invoked before the panorama frame will be updated and which allows to define a frame mask separating the frame in static and dynamic image areas, only static image content is used to extend the environment

Returns: True, if succeeded

◆ findBidirectionalCorrespondences8BitPerChannel()

template<unsigned int tChannels, unsigned int tSize>

static IndexPairs32 Ocean::Tracking::SphericalEnvironment::findBidirectionalCorrespondences8BitPerChannel	(	const PinholeCamera &	camera0,
		const PinholeCamera &	camera1,
		const SquareMatrix3 &	orientation0,
		const SquareMatrix3 &	orientation1,
		const uint8_t *	datas0,
		const uint8_t *	datas1,
		const Vectors2 &	points0,
		const Vectors2 &	points1,
		const Geometry::SpatialDistribution::DistributionArray &	distribution0,
		const Geometry::SpatialDistribution::DistributionArray &	distribution1,
		Worker *	worker
	)

staticprotected

Finds bidirectional point correspondences between two given camera frames with eight bit per channel from a set of already detected unique feature points.

Parameters

camera0	The camera profile of the first frame, must be valid
camera1	The camera profile of the second frame, must be valid
orientation0	The orientation of the first frame, must be valid
orientation1	The orientation of the second frame, must be valid
datas0	The buffer storing interpolated image patches from the first frame, matching with the given image points
datas1	The buffer storing interpolated image patches form the second frame, matching with the given image points
points0	The center positions of the image patches in the first frame
points1	The center positions of the image patches in the second frame
distribution0	The point distribution of the image points from the first frame
distribution1	The point distribution of the image points from the second frame
worker	Optional worker object to distribute the computation

Returns: A set if unique bijective point correspondences between the first and second frame

Template Parameters

tChannels	The number of image channels, with range [1, infinity)
tSize	The size of the image patches (tSize x tSize), with range [1, infinity) must be odd

See also: findBidirectionalCorrespondences8BitPerChannelSubset().

◆ findBidirectionalCorrespondences8BitPerChannelSubset()

template<unsigned int tChannels, unsigned int tSize>

static void Ocean::Tracking::SphericalEnvironment::findBidirectionalCorrespondences8BitPerChannelSubset	(	const PinholeCamera *	camera0,
		const PinholeCamera *	camera1,
		const SquareMatrix3 *	orientation0,
		const SquareMatrix3 *	orientation1,
		const uint8_t *	datas0,
		const uint8_t *	datas1,
		const Vectors2 *	points0,
		const Vectors2 *	points1,
		const Geometry::SpatialDistribution::DistributionArray *	distribution0,
		const Geometry::SpatialDistribution::DistributionArray *	distribution1,
		Lock *	lock,
		IndexPairs32 *	results,
		const unsigned int	firstPoint,
		const unsigned int	numberPoints
	)

staticprotected

Finds subsets of bidirectional point correspondences between two given camera frames with eight bit per channel from a set of already detected unique feature points.

Parameters

camera0	The camera profile of the first frame, must be valid
camera1	The camera profile of the second frame, must be valid
orientation0	The orientation of the first frame, must be valid
orientation1	The orientation of the second frame, must be valid
datas0	The buffer storing interpolated image patches from the first frame, matching with the given image points
datas1	The buffer storing interpolated image patches form the second frame, matching with the given image points
points0	The center positions of the image patches in the first frame
points1	The center positions of the image patches in the second frame
distribution0	The point distribution of the image points from the first frame
distribution1	The point distribution of the image points from the second frame
lock	Optional lock for multi-thread execution
results	The resulting unique bijective point correspondences between the first and second frame
firstPoint	The first point to be handled
numberPoints	The number of points to be handled

Template Parameters

tChannels	The number of image channels, with range [1, infinity)
tSize	The size of the image patches (tSize x tSize), with range [1, infinity) must be odd

See also: findBidirectionalCorrespondences8BitPerChannel().

◆ findBijectiveCorrespondences()

template<unsigned int tSize>

static IndexPairs32 Ocean::Tracking::SphericalEnvironment::findBijectiveCorrespondences	(	const PinholeCamera &	camera0,
		const PinholeCamera &	camera1,
		const FrameType::PixelFormat	pixelFormat,
		const SquareMatrix3 &	orientation0,
		const SquareMatrix3 &	orientation1,
		const Buffer &	buffer0,
		const Buffer &	buffer1,
		const Vectors2 &	points0,
		const Vectors2 &	points1,
		const Geometry::SpatialDistribution::DistributionArray &	distribution0,
		const Geometry::SpatialDistribution::DistributionArray &	distribution1,
		Worker *	worker
	)

staticprotected

Finds unique bijective point correspondences between two given camera frames from a set of already detected unique feature points.

Parameters

camera0	The camera profile of the first frame, must be valid
camera1	The camera profile of the second frame, must be valid
pixelFormat	The pixel of the given buffers storing interpolated image patches
orientation0	The orientation of the first frame, must be valid
orientation1	The orientation of the second frame, must be valid
buffer0	The buffer storing interpolated image patches from the first frame, matching with the given image points
buffer1	The buffer storing interpolated image patches form the second frame, matching with the given image points
points0	The center positions of the image patches in the first frame
points1	The center positions of the image patches in the second frame
distribution0	The point distribution of the image points from the first frame
distribution1	The point distribution of the image points from the second frame
worker	Optional worker object to distribute the computation

Returns: A set if unique bijective point correspondences between the first and second frame

Template Parameters

tSize The size of the image patches (tSize x tSize), with range [1, infinity) must be odd

See also: findBijectiveCorrespondences8BitPerChannel().

◆ findBijectiveCorrespondences8BitPerChannel()

template<unsigned int tChannels, unsigned int tSize>

static IndexPairs32 Ocean::Tracking::SphericalEnvironment::findBijectiveCorrespondences8BitPerChannel	(	const PinholeCamera &	camera0,
		const PinholeCamera &	camera1,
		const SquareMatrix3 &	orientation0,
		const SquareMatrix3 &	orientation1,
		const uint8_t *	datas0,
		const uint8_t *	datas1,
		const Vectors2 &	points0,
		const Vectors2 &	points1,
		const Geometry::SpatialDistribution::DistributionArray &	distribution0,
		const Geometry::SpatialDistribution::DistributionArray &	distribution1,
		Worker *	worker
	)

staticprotected

Finds unique bijective point correspondences between two given camera frames with eight bit per channel from a set of already detected unique feature points.

Parameters

camera0	The camera profile of the first frame, must be valid
camera1	The camera profile of the second frame, must be valid
orientation0	The orientation of the first frame, must be valid
orientation1	The orientation of the second frame, must be valid
datas0	The buffer storing interpolated image patches from the first frame, matching with the given image points
datas1	The buffer storing interpolated image patches form the second frame, matching with the given image points
points0	The center positions of the image patches in the first frame
points1	The center positions of the image patches in the second frame
distribution0	The point distribution of the image points from the first frame
distribution1	The point distribution of the image points from the second frame
worker	Optional worker object to distribute the computation

Returns: A set if unique bijective point correspondences between the first and second frame

Template Parameters

tChannels	The number of image channels, with range [1, infinity)
tSize	The size of the image patches (tSize x tSize), with range [1, infinity) must be odd

See also: findBijectiveCorrespondences().

◆ findCorrespondingPoint8BitPerChannel()

template<unsigned int tChannels, unsigned int tSize>

static unsigned int Ocean::Tracking::SphericalEnvironment::findCorrespondingPoint8BitPerChannel	(	const uint8_t *	data0,
		const uint8_t *	datas1,
		const Indices32 &	indices
	)

staticprotected

Finds a corresponding patch for a given patch from a second set of patches.

Parameters

data0	The image patch for which a second best matching patch has to be found
datas1	The set of image patches from which the best matching patch has to be found
indices	The indices of possible patch candidates from the set of image patches

Returns: The index of the image patch best matching to the given patch

Template Parameters

tChannels	The number of image channels, with range [1, infinity)
tSize	The size of the image patches (tSize x tSize), with range [1, infinity) must be odd

◆ findInitialFieldOfView()

static bool Ocean::Tracking::SphericalEnvironment::findInitialFieldOfView	(	const unsigned int	width,
		const unsigned int	height,
		const SquareMatrices3 &	orientations,
		const ImagePoints &	imagePoints,
		const PoseImagePointPairGroups &	orientationImagePointPairGroups,
		PinholeCamera &	optimizedCamera,
		SquareMatrices3 &	optimizedOrientations,
		const Scalar	lowerFovX = `Numeric::deg2rad(40)`,
		const Scalar	upperFovX = `Numeric::deg2rad(90)`,
		const unsigned int	steps = `10u`
	)

static

Determines the initial field of view for a set of camera frames with known orientation and a corresponding set of unique features observed in several individual frames.

Parameters

width	The width of the camera profile in pixel, with range [1, infinity)
height	The height of the camera profile in pixel, with range [1, infinity)
orientations	The known orientations of the individual camera frames
imagePoints	The entire set of image points observed in individual camera frames
orientationImagePointPairGroups	Groups of pairs combining indices from the set of image points with indices of unique feature points, one set of pairs for each camera frame
optimizedCamera	The resulting camera profile with ideal field of view
optimizedOrientations	The camera orientations matching with the new camera profile
lowerFovX	The lower bound of the possible horizontal field of view
upperFovX	The upper bound of the possible horizontal field of view
steps	The number of steps in which the defined angle range is subdivided

Returns: True, if succeeded

◆ frameIndex()

uint32_t Ocean::Tracking::SphericalEnvironment::frameIndex ( const uint64_t id )

inlinestaticprotected

Extracts the frame index of a unique feature point id.

Parameters

id	The unique feature point id

Returns: The frame index of the id

◆ interpolateSquarePatches()

template<unsigned int tSize>

static Buffer Ocean::Tracking::SphericalEnvironment::interpolateSquarePatches	(	const Frame &	frame,
		const Vectors2 &	positions,
		Worker *	worker = `nullptr`
	)

staticprotected

Interpolates square image patches with sub-pixel position and stores the image content as patch buffer.

Parameters

frame	The frame in which the patches are located, must be valid
positions	The center positions of the individual patches, with ranges [tSize / 2, frame.width() - tSize / 2 - 1)x[tSize / 2, frame.height() - tSize / 2 - 1)
worker	Optional worker object to distribute the computation

Returns: The buffer storing all interpolated patches consecutively

Template Parameters

tSize The size of the image patches (tSize x tSize)

◆ interpolateSquarePatches8BitPerChannel()

template<unsigned int tChannels, unsigned int tSize>

static void Ocean::Tracking::SphericalEnvironment::interpolateSquarePatches8BitPerChannel	(	const uint8_t *	frame,
		const unsigned int	width,
		const unsigned int	height,
		const unsigned int	framePaddingElements,
		const Vectors2 &	positions,
		uint8_t *	result,
		Worker *	worker = `nullptr`
	)

staticprotected

Interpolates square image patches with sub-pixel position and stores the image content as patch buffer.

Parameters

frame	The frame in which the patches are located with 8 bit per channel
width	The width of the given frame in pixel, with range [1, infinity)
height	The height of the given frame in pixel, with range [1, infinity)
framePaddingElements	The number of padding elements at the end of each frame row, in elements, with range [0, infinity)
positions	The center positions of the individual patches, with ranges [tSize / 2, width - tSize / 2 - 1)x[tSize / 2, height - tSize / 2 - 1)
result	The buffer receiving the resulting interpolated patches
worker	Optional worker object to distribute the computation

Template Parameters

tChannels	The number of image channels, with range [1, infinity)
tSize	The size of the image patches (tSize x tSize), with range [1, infinity) must be odd

◆ interpolateSquarePatches8BitPerChannelSubset()

template<unsigned int tChannels, unsigned int tSize>

static void Ocean::Tracking::SphericalEnvironment::interpolateSquarePatches8BitPerChannelSubset	(	const uint8_t *	frame,
		const unsigned int	width,
		const unsigned int	height,
		const unsigned int	framePaddingElements,
		const Vector2 *	positions,
		uint8_t *	result,
		const unsigned int	firstPosition,
		const unsigned int	numberPositions
	)

staticprotected

Interpolates a subset of square image patches with sub-pixel position and stores the image content as patch buffer.

Parameters

frame	The frame in which the patches are located with 8 bit per channel
width	The width of the given frame in pixel, with range [1, infinity)
height	The height of the given frame in pixel, with range [1, infinity)
framePaddingElements	The number of padding elements at the end of each frame row, in elements, with range [0, infinity)
positions	The center positions of the individual patches, with ranges [tSize / 2, width - tSize / 2 - 1)x[tSize / 2, height - tSize / 2 - 1)
result	The buffer receiving the resulting interpolated patches
firstPosition	The first position to be handled
numberPositions	The number of positions to be handled

Template Parameters

tChannels	The number of image channels, with range [1, infinity)
tSize	The size of the image patches (tSize x tSize), with range [1, infinity) must be odd

◆ nonHomographyMask()

static bool Ocean::Tracking::SphericalEnvironment::nonHomographyMask	(	const CV::FramePyramid &	previousFramePyramid,
		const CV::FramePyramid &	currentFramePyramid,
		const PinholeCamera &	previousCamera,
		const PinholeCamera &	currentCamera,
		const SquareMatrix3 &	previousOrientation,
		const SquareMatrix3 &	currentOrientation,
		const uint8_t	maskValue,
		Frame &	currentMask,
		Worker *	worker = `nullptr`
	)

static

This function determines a mask for image areas not matching with the common homography between two successive camera frames.

An image point does not match with the common homography if the point has a distance larger than 3 pixels to the expected homography point.

Parameters

previousFramePyramid	The frame pyramid of the previous camera frame
currentFramePyramid	The frame pyramid of the current camera frame
previousCamera	The camera profile of the previous camera frame
currentCamera	The camera profile of the current camera frame
previousOrientation	The orientation of the previous camera frame, in relation to the coordinate system of the panorama frame
currentOrientation	The orientation of the current camera frame, in relation to the coordinate system of the panorama frame
maskValue	The mask value for static image content
currentMask	The resulting mask for the current camera frame separating static and dynamic image content
worker	Optional worker object to distribute the computation

Returns: True, if a valid mask could be determined

◆ optimizeCamera() [1/2]

static bool Ocean::Tracking::SphericalEnvironment::optimizeCamera	(	const PinholeCamera &	pinholeCamera,
		const Frames &	frames,
		const SquareMatrices3 &	orientations,
		PinholeCamera &	optimizedCamera,
		Worker *	worker = `nullptr`
	)

static

Optimizes the camera profile for a given set of camera frames with known orientations so that the offset between corresponding points in the individual camera frames becomes as small as possible.

Parameters

pinholeCamera	The camera profile which will be optimized
frames	The individual camera frame
orientations	The orientations of the individual camera frames, one orientation for each frame
optimizedCamera	The resulting optimized camera profile
worker	Optional worker object to distribute the computation

Returns: True, if a valid mask could be determined

◆ optimizeCamera() [2/2]

static bool Ocean::Tracking::SphericalEnvironment::optimizeCamera	(	const PinholeCamera &	pinholeCamera,
		const SquareMatrices3 &	orientations,
		const ImagePoints &	imagePoints,
		const PoseImagePointPairGroups &	orientationImagePointPairGroups,
		PinholeCamera &	optimizedCamera,
		SquareMatrices3 &	optimizedOrientations,
		const unsigned int	iterations = `20u`,
		const Geometry::Estimator::EstimatorType	estimator = `Geometry::Estimator::ET_SQUARE`,
		Scalar	lambda = `Scalar(0.001)`,
		const Scalar	lambdaFactor = `Scalar(5)`,
		Scalar *	initialError = `nullptr`,
		Scalar *	finalError = `nullptr`,
		Scalars *	intermediateErrors = `nullptr`
	)

static

Optimizes the camera profile for a given set of image points from individual camera frames so that the offset between the corresponding points becomes as small as possible.

Parameters

pinholeCamera	The camera profile which will be optimized
orientations	The orientations of the individual camera frames, one orientation for each frame
imagePoints	The entire set of image points holding all image points from all image frames
orientationImagePointPairGroups	Groups of pairs combining indices from the set of image points with indices of unique feature points, one set of pairs for each camera frame
optimizedCamera	The resulting camera profile with ideal field of view
optimizedOrientations	The camera orientations matching with the new camera profile
iterations	Number of iterations to be applied at most, if no convergence can be reached
estimator	Robust error estimator to be used
lambda	Initial Levenberg-Marquardt damping value which may be changed after each iteration using the damping factor, with range [0, infinity)
lambdaFactor	Levenberg-Marquardt damping factor to be applied to the damping value, with range [1, infinity)
initialError	Optional resulting averaged robust (depending on estimator) pixel error for the given initial parameters
finalError	Optional resulting averaged robust (depending on estimator) pixel error for the final optimized parameters
intermediateErrors	Optional resulting intermediate (improving) errors

Returns: True, if the camera profile could be optimized

◆ optimizeOrientation()

bool Ocean::Tracking::SphericalEnvironment::optimizeOrientation	(	const PinholeCamera &	pinholeCamera,
		const SquareMatrix3 &	orientation,
		const Frame &	frame,
		const Frame &	mask,
		const Geometry::Estimator::EstimatorType	estimator,
		SquareMatrix3 &	optimizedOrientation,
		PinholeCamera *	optimizedCamera = `nullptr`,
		LookupTable *	fineAdjustment = `nullptr`,
		const unsigned int	approximationBinSize = `20u`,
		Worker *	worker = `nullptr`
	)

Determines the precise orientation of a given camera frame.

Parameters

pinholeCamera	The camera profile of the current frame, must be valid
orientation	The rough orientation of the given frame, in relation to the spherical environment, must be valid
frame	The camera frame which will be added, must be valid
mask	An optional mask defining valid and invalid pixels in the given frame, may be invalid if all pixels are valid
estimator	The estimator type which is applied to determine the precise orientation
optimizedOrientation	The resulting precise orientation best matching to the given camera frame
optimizedCamera	Optional resulting optimized camera profile, nullptr if the given camera profile is not optimized internally
fineAdjustment	Optional resulting transformation lookup table with relative offsets providing a fine adjustment for the camera frame
approximationBinSize	Optional width of a bin in a lookup table to speedup the in interpolation in pixel, 0u to avoid the application of a lookup table
worker	Optional worker object to distribute the computation

Returns: True, if succeeded

◆ pointIndex()

uint32_t Ocean::Tracking::SphericalEnvironment::pointIndex ( const uint64_t id )

inlinestaticprotected

Extracts the point index of a unique feature point id.

Parameters

id	The unique feature point id

Returns: The point index of the id

◆ uniqueFeaturePointId()

uint64_t Ocean::Tracking::SphericalEnvironment::uniqueFeaturePointId	(	const uint32_t	frameIndex,
		const uint32_t	pointIndex
	)

inlinestaticprotected

Creates a unique ids for a given frame index and points index located in the frame.

Parameters

frameIndex	The index of the frame
pointIndex	The index of the point ion the frame

Returns: Resulting unique feature point id

Field Documentation

◆ initialOrientation_

SquareMatrix3 Ocean::Tracking::SphericalEnvironment::initialOrientation_ = SquareMatrix3(true)

protected

The initial orientation of the first camera frame.

◆ previousCamera_

PinholeCamera Ocean::Tracking::SphericalEnvironment::previousCamera_

protected

The camera profile of the most recent frame.

◆ previousFramePyramid_

CV::FramePyramid Ocean::Tracking::SphericalEnvironment::previousFramePyramid_

protected

The frame pyramid of the most recent frame.

◆ previousOrientation_

SquareMatrix3 Ocean::Tracking::SphericalEnvironment::previousOrientation_ = SquareMatrix3(false)

protected

The orientation of the camera of the most recent frame.

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

SphericalEnvironment.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Buffer

◆ Buffers

◆ FeaturePointMap

◆ FrameCallback

◆ IndexMap

◆ PoseImagePointPairGroups

Constructor & Destructor Documentation

◆ SphericalEnvironment() [1/2]

◆ SphericalEnvironment() [2/2]

Member Function Documentation

◆ clear()

◆ determineFeaturePointsFromPointCloud()

◆ determinePointCorrespondencesHomography() [1/2]

◆ determinePointCorrespondencesHomography() [2/2]

◆ determineSiblings()

◆ determineTransformationTable2x2()

◆ extendEnvironment()

◆ findBidirectionalCorrespondences8BitPerChannel()

◆ findBidirectionalCorrespondences8BitPerChannelSubset()

◆ findBijectiveCorrespondences()

◆ findBijectiveCorrespondences8BitPerChannel()

◆ findCorrespondingPoint8BitPerChannel()

◆ findInitialFieldOfView()

◆ frameIndex()

◆ interpolateSquarePatches()

◆ interpolateSquarePatches8BitPerChannel()

◆ interpolateSquarePatches8BitPerChannelSubset()

◆ nonHomographyMask()

◆ optimizeCamera() [1/2]

◆ optimizeCamera() [2/2]

◆ optimizeOrientation()

◆ pointIndex()

◆ uniqueFeaturePointId()

Field Documentation

◆ initialOrientation_

◆ previousCamera_

◆ previousFramePyramid_

◆ previousOrientation_