tracking/point/Utilities.h

Go to the documentation of this file.

/*
 * 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 META_OCEAN_TRACKING_POINT_UTILITIES_H
#define META_OCEAN_TRACKING_POINT_UTILITIES_H
 
#include "ocean/tracking/point/Point.h"
 
#include "ocean/math/Line3.h"
#include "ocean/math/Vector3.h"
 
namespace Ocean
{
 
namespace Tracking
{
 
namespace Point
{
 
/**
 * This class implements utilities function for the point tracking library.
 * @ingroup trackingpoint
 */
class OCEAN_TRACKING_POINT_EXPORT Utilities
{
    public:
 
        /**
         * Determines an initial 3D position from several 3D rays that start at the camera center and intersect individual image points.
         * @param rays Rays for that a best matching pose has to be determined
         * @param numberRays Number of provided rays, with range [2, infinity)
         * @param objectPoint Resulting object point
         * @param checkFrontPosition True, if the resulting point is verified to be in front of all viewing rays (by application of the ray direction)
         * @return True, if succeeded
         */
        static bool determineInitialObjectPoint(const Line3* rays, const size_t numberRays, Vector3& objectPoint, const bool checkFrontPosition = true);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TRACKING_POINT_UTILITIES_H