cv/detector/bullseyes/Utilities.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef OCEAN_CV_DETECTOR_BULLSEYES_UTILITIES_H
#define OCEAN_CV_DETECTOR_BULLSEYES_UTILITIES_H
 
#include "ocean/cv/detector/bullseyes/Bullseyes.h"
 
#include "ocean/cv/detector/bullseyes/Bullseye.h"
 
#include "ocean/base/Frame.h"
 
#include "ocean/geometry/FisheyeEpipolarGeometry.h"
 
namespace Ocean
{
 
namespace CV
{
 
namespace Detector
{
 
namespace Bullseyes
{
 
/**
 * This class implements utility functions for the Bullseyes library.
 * @ingroup cvdetectorbullseyes
 */
class OCEAN_CV_DETECTOR_BULLSEYES_EXPORT Utilities
{
    public:
 
        /**
         * Creates a bullseye image with a given diameter and quiet zone.
         * @param diameter The diameter of the bullseye in pixels, with range [5, infinity) and must be a multiple of 5
         * @param emptyBorder The width of an empty border around the bullseye (quiet zone), in pixels, with range [0, infinity)
         * @param rgbFrame The resulting bullseye image
         * @param foregroundColor Optional foreground color of the bullseye, nullptr to use the default color (black)
         * @param backgroundColor Optional background color of the bullseye, nullptr to use the default color (white)
         * @return True, if succeeded
         */
        static bool createBullseyeImage(const unsigned int diameter, const unsigned int emptyBorder, Frame& rgbFrame, const uint8_t* foregroundColor = nullptr, const uint8_t* backgroundColor = nullptr);
 
        /**
         * Draws the location of a bullseye into a given frame.
         * @param frame The frame in which the bullseye will be painted, must be valid and have a pixel format RGB24 (or compatible)
         * @param bullseye The bullseye to be painted, must be valid
         * @param color Optional color to be used, one value for each frame channel, nullptr to use the default color (red)
         */
        static void drawBullseye(Frame& frame, const Bullseye& bullseye, const uint8_t* color = nullptr);
 
        /**
         * Draws the locations of multiple bullseyes into a given frame.
         * @param frame The frame in which the bullseyes will be painted, must be valid and have a pixel format RGB24 (or compatible)
         * @param bullseyes The bullseyes to be painted, must be valid
         * @param numberBullseyes The number of bullseyes to be painted, with range [0, infinity)
         * @param color Optional color to be used, one value for each frame channel, nullptr to use the default color (red)
         */
        static void drawBullseyes(Frame& frame, const Bullseye* bullseyes, const size_t numberBullseyes, const uint8_t* color = nullptr);
 
        /**
         * Draws an epipolar line into a given frame.
         * @param rgbFrame The frame in which the epipolar line will be painted, must be valid and have a pixel format RGB24 (or compatible)
         * @param epipolarLine The epipolar line to be painted, defined as a sequence of connected points
         * @param color Optional color to be used, one value for each frame channel, nullptr to use the default color (green)
         */
        static void drawEpipolarLine(Ocean::Frame& rgbFrame, const Geometry::FisheyeEpipolarGeometry::EpipolarLine& epipolarLine, const uint8_t* color = nullptr);
 
        /**
         * Draws multiple epipolar lines into a given frame.
         * @param rgbFrame The frame in which the epipolar lines will be painted, must be valid and have a pixel format RGB24 (or compatible)
         * @param epipolarLines The epipolar lines to be painted, each defined as a sequence of connected points
         * @param color Optional color to be used, one value for each frame channel, nullptr to use the default color (green)
         */
        static void drawEpipolarLines(Ocean::Frame& rgbFrame, const Geometry::FisheyeEpipolarGeometry::EpipolarLines& epipolarLines, const uint8_t* color = nullptr);
};
 
} // namespace Bullseyes
 
} // namespace Detector
 
} // namespace CV
 
} // namespace Ocean
 
#endif // OCEAN_CV_DETECTOR_BULLSEYES_UTILITIES_H