tracking/slam/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_SLAM_UTILITIES_H
#define META_OCEAN_TRACKING_SLAM_UTILITIES_H
 
#include "ocean/tracking/slam/SLAM.h"
#include "ocean/tracking/slam/TrackerMono.h"
 
#include "ocean/base/Frame.h"
 
#include "ocean/math/AnyCamera.h"
#include "ocean/math/HomogenousMatrix4.h"
 
namespace Ocean
{
 
namespace Tracking
{
 
namespace SLAM
{
 
/**
 * This class implements utility functions for SLAM.
 * @ingroup trackingslam
 */
class OCEAN_TRACKING_SLAM_EXPORT Utilities
{
    public:
 
        /**
         * Paints object points and feature tracks into a frame, coloring object points by their localization precision.
         * @param frame The frame to paint into, must be valid and have FORMAT_RGB24
         * @param cameraClipper The camera clipper used for projecting 3D points to image coordinates
         * @param world_T_camera The transformation from camera to world coordinates
         * @param debugData The debug data containing object points and feature tracks
         * @param maximalTrackLength The maximum number of track points to draw per track, with range [1, infinity)
         * @param darkeningFactor Optional factor to darken the frame before painting, 0 to disable, with range [0, infinity)
         * @return True, if succeeded
         */
        static bool paintDebugDataByLocalizationPrecision(Frame& frame, const AnyCameraClipper& cameraClipper, const HomogenousMatrix4& world_T_camera, const TrackerMono::DebugData& debugData, const size_t maximalTrackLength, const unsigned int darkeningFactor = 0u);
 
        /**
         * Paints object points and feature tracks into a frame, coloring object points by their pose estimation precision.
         * @param frame The frame to paint into, must be valid and have FORMAT_RGB24
         * @param cameraClipper The camera clipper used for projecting 3D points to image coordinates
         * @param world_T_camera The transformation from camera to world coordinates
         * @param debugData The debug data containing object points and feature tracks
         * @param maximalTrackLength The maximum number of track points to draw per track, with range [1, infinity)
         * @param darkeningFactor Optional factor to darken the frame before painting, 0 to disable, with range [0, infinity)
         * @return True, if succeeded
         */
        static bool paintDebugDataByPosePrecision(Frame& frame, const AnyCameraClipper& cameraClipper, const HomogenousMatrix4& world_T_camera, const TrackerMono::DebugData& debugData, const size_t maximalTrackLength, const unsigned int darkeningFactor = 0u);
 
        /**
         * Paints object points into a frame using a uniform green color.
         * @param frame The frame to paint into, must be valid and have FORMAT_RGB24
         * @param cameraClipper The camera clipper used for projecting 3D points to image coordinates
         * @param world_T_camera The transformation from camera to world coordinates
         * @param debugData The debug data containing object points
         * @param darkeningFactor Optional factor to darken the frame before painting, 0 to disable, with range [0, infinity)
         * @return True, if succeeded
         */
        static bool paintObjectPoints(Frame& frame, const AnyCameraClipper& cameraClipper, const HomogenousMatrix4& world_T_camera, const TrackerMono::DebugData& debugData, const unsigned int darkeningFactor = 0u);
 
        /**
         * Serializes FramesStatistics to a JSON file.
         * @param framesStatistics The frames statistics to serialize
         * @param filename The name of the file to write to, must not be empty
         * @return True, if the serialization succeeded
         */
        static bool serializeFramesStatisticsToJSON(const TrackerMono::FramesStatistics& framesStatistics, const std::string& filename);
 
        /**
         * Deserializes FramesStatistics from a JSON file.
         * @param filename The name of the file to read from, must not be empty
         * @param framesStatistics The resulting frames statistics
         * @return True, if the deserialization succeeded
         */
        static bool deserializeFramesStatisticsFromJSON(const std::string& filename, TrackerMono::FramesStatistics& framesStatistics);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TRACKING_SLAM_UTILITIES_H