Stores a camera object to feed the Structure from Motion parameters. More...

#include <CameraInterface.h>

Inheritance diagram for FlowEngine::CameraInterface:

Public Member Functions
virtual FLE_DLL	~CameraInterface ()=default
	Default virtual destructor.

virtual FLE_DLL bool	isReconstructed () const =0

virtual FLE_DLL ReconstructionID	reconstructionId () const =0

virtual FLE_DLL Result	loadImage (ConstStringBuffer filePath)=0

virtual FLE_DLL Result	loadMask (ConstStringBuffer filePath, const SettingsInterface &settings)=0

virtual FLE_DLL void	resetMask ()=0
	Resets the mask of this camera.

virtual FLE_DLL Result	loadPreviousFrame (ConstStringBuffer filePath)=0

virtual FLE_DLL Result	loadPivotFrame (ConstStringBuffer filePath)=0

virtual FLE_DLL Result	getImageFilePath (StringBuffer outImageFilePath) const =0

virtual FLE_DLL Size	getImageFilePathLength () const =0

virtual FLE_DLL Result	getPPM (Buffer< double > outPPM) const =0

virtual FLE_DLL Result	getR (Buffer< double > outR) const =0

virtual FLE_DLL Result	getT (Point3 &outTranslation) const =0

virtual FLE_DLL void	getCameraCalibration (CameraCalibrationInterface &outCameraCalibration) const =0

virtual FLE_DLL void	getDimensions (int &outWidth, int &outHeight) const =0

virtual FLE_DLL void	setCameraCalibration (const CameraCalibrationInterface &cameraCalibration)=0

virtual FLE_DLL Result	setPPM (ConstBuffer< double > ppm)=0

virtual FLE_DLL Result	setR (ConstBuffer< double > rot)=0

virtual FLE_DLL Result	setT (ConstBuffer< double > translation)=0

virtual FLE_DLL Result	orientWithControlPointConstraints (ConstBuffer< ControlPointConstraintInterface * > controlPoints, bool adjustInternalParameters, bool adjustRadialDistortion)=0

virtual FLE_DLL Result	projectPoint (const Point3 &point, Point2 &outImageCoords) const =0

virtual FLE_DLL Result	computeGroundSampleDistance (double &outMin, double &outMax, double &outMean) const =0

virtual FLE_DLL Result	loadFromXmp (ConstStringBuffer filePath)=0

virtual FLE_DLL Result	saveToXmp (ConstStringBuffer filePath) const =0

virtual FLE_DLL Result	saveUndistortedImage (ConstStringBuffer filePath, Size width=0, Size height=0, Size channelBitDepth=0) const =0

virtual FLE_DLL Result	generateSTMap (Image &inOutImage) const =0

Public Member Functions inherited from FlowEngine::NamedObjectInterface
virtual FLE_DLL	~NamedObjectInterface ()=default
	Default virtual destructor.

virtual FLE_DLL Size	getNameLength () const =0

virtual FLE_DLL Result	getName (StringBuffer outName) const =0

virtual FLE_DLL Result	setName (ConstStringBuffer name)=0

Detailed Description

Stores a camera object to feed the Structure from Motion parameters.

Every camera is bounded to an image and possibly a mask file.

Constructor & Destructor Documentation

◆ ~CameraInterface()

virtual FLE_DLL FlowEngine::CameraInterface::~CameraInterface ( )

virtualdefault

Default virtual destructor.

Member Function Documentation

◆ computeGroundSampleDistance()

virtual FLE_DLL Result FlowEngine::CameraInterface::computeGroundSampleDistance	(	double &	outMin,
		double &	outMax,
		double &	outMean
	)		const

pure virtual

Calculates this camera ground sample distance (GSD) statistics. Computation is done based on its relative sparse point cloud.

Parameters

[out]	outMin	the minimum GSD of this camera.
[out]	outMax	the maximum GSD of this camera.
[out]	outMean	the mean GSD of this camera.

Precondition

the camera must have been processed with one of the following functions:

FlowEngine::computeStructureAndMotion
FlowEngine::computeStructureAndMotionConstrained
FlowEngine::computeSparsePointCloudFromKnownPPM
FlowEngine::performBundleAdjustment

Returns

One of the following result codes:

Result::Success – if the output parameters were filled with the requested data.
Result::PreconditionNotMet – if one or more preconditions were not met.
Result::FeatureNotAvailable – if this method was called by the free version of the SDK.
Result::OutOfMemoryError – if the system reported a bad memory allocation.
Result::GenericError – if any other error occurred.

Note: This feature is not available in the free version of the SDK.

◆ generateSTMap()

virtual FLE_DLL Result FlowEngine::CameraInterface::generateSTMap ( Image & inOutImage ) const

pure virtual

Generates a distortion map based on the dimensions of this camera image and its camera calibration. Colours in the red and green channel describe the way the individual pixels are warped to apply or remove lens distortion from an image. Blue channel is zero. Values are in the [0.0, 1.0] range.

Precondition: This camera must have a valid CameraCalibration object assigned.

Parameters

[in,out] inOutImage a buffer that will receive the ST-Map data. The buffer must be big enough to receive a 3-channel float image of the same dimensions of this camera's image.

Returns

One of the following result codes:

Result::Success – if the inOutImage buffer was filled with the ST-Map data.
Result::InvalidArgument – if inOutImage has invalid dimensions or its data buffer is not valid.
Result::BufferTooSmall – if inOutImage data buffer is not big enough.
Result::GenericError – if any error occurred.

◆ getCameraCalibration()

virtual FLE_DLL void FlowEngine::CameraInterface::getCameraCalibration ( CameraCalibrationInterface & outCameraCalibration ) const

pure virtual

Returns the camera calibration associated with this camera.

Parameters

[in,out] outCameraCalibration a valid CameraCalibration object that receives the data

◆ getDimensions()

virtual FLE_DLL void FlowEngine::CameraInterface::getDimensions	(	int &	outWidth,
		int &	outHeight
	)		const

pure virtual

Returns the camera image dimensions.

Parameters

[in,out]	outWidth	the width in pixels
[in,out]	outHeight	the height in pixels

◆ getImageFilePath()

virtual FLE_DLL Result FlowEngine::CameraInterface::getImageFilePath ( StringBuffer outImageFilePath ) const

pure virtual

Returns the camera image file path

Parameters

[in,out] outImageFilePath buffer that receives the UTF-8 encoded path to the image file. The buffer must be at least getImageFilePathLength() long

◆ getImageFilePathLength()

virtual FLE_DLL Size FlowEngine::CameraInterface::getImageFilePathLength ( ) const

pure virtual

Returns the camera image file path length

Returns: the number of characters required to hold the image file path string (excluding the termination character)

◆ getPPM()

virtual FLE_DLL Result FlowEngine::CameraInterface::getPPM ( Buffer< double > outPPM ) const

pure virtual

Returns the camera projection matrix (PPM) composed as A * [R t] (3x4). This function is not available in the free version of the SDK.

Parameters

[out] outPPM buffer that receives ppm matrix elements in row-major order. The buffer must be at least 12 elements big.

◆ getR()

virtual FLE_DLL Result FlowEngine::CameraInterface::getR ( Buffer< double > outR ) const

pure virtual

Returns the camera rotation R (3x3). This function is not available in the free version of the SDK.

Parameters

[out] outR buffer that receives rotation matrix elements in row-major order. The buffer must be at least 9 elements big.

◆ getT()

virtual FLE_DLL Result FlowEngine::CameraInterface::getT ( Point3 & outTranslation ) const

pure virtual

Returns the camera translation. This function is not available in the free version of the SDK.

Parameters

[out] outTranslation the camera translation

◆ isReconstructed()

virtual FLE_DLL bool FlowEngine::CameraInterface::isReconstructed ( ) const

pure virtual

Check if the cameras has a valid reconstruction

Returns: true if the camera is reconstructed (i.e. sees some points)

◆ loadFromXmp()

virtual FLE_DLL Result FlowEngine::CameraInterface::loadFromXmp ( ConstStringBuffer filePath )

pure virtual

Loads camera parameters from an XMP file.

Parameters

[in] filePath string buffer that contains the UTF-8 file path

Returns

Result::Success – if the operation was successful.
Result::InvalidArgument – if filePath is not a valid string buffer.
Result::FileNotFound – if filePath does not point to an existing file.
Result::GenericIOError – if the writing failed for any reason related to the file system.

◆ loadImage()

virtual FLE_DLL Result FlowEngine::CameraInterface::loadImage ( ConstStringBuffer filePath )

pure virtual

Loads an image from disk. The camera source image file path is updated accordingly.

Parameters

[in] filePath string buffer containing the UTF-8 encoded path to the image file.

Returns

One of the following result codes:

Result::Success – if the image was loaded successfully.
Result::InvalidArgument – if filePath is not a valid string buffer.
Result::FileNotFound – if filePath does not point to an existing file.
Result::GenericIOError – if the image loading failed for any reason.

◆ loadMask()

virtual FLE_DLL Result FlowEngine::CameraInterface::loadMask	(	ConstStringBuffer	filePath,
		const SettingsInterface &	settings
	)

pure virtual

Set and load the mask from file. The mask can be a .bim or image file. The mask must be of the same size as the input image size.

Parameters

[in]	filePath	UTF-8 encoded path to the mask file
[in]	settings	the settings that will be queried for configuration parameters.

◆ loadPivotFrame()

virtual FLE_DLL Result FlowEngine::CameraInterface::loadPivotFrame ( ConstStringBuffer filePath )

pure virtual

Set the previous frame path and load the image (used by FlowEngineInterface::adaptMeshWithOpticalFlow)

Parameters

[in] filePath string buffer containing the UTF-8 encoded path to the image file. This (along with the previous frame) will make the camera object suitable for optical flow computation FlowEngineInterface::adaptMeshWithOpticalFlow.

Returns

One of the following result codes:

Result::Success – if the image was loaded successfully.
Result::InvalidArgument – if filePath is not a valid string buffer.
Result::FileNotFound – if filePath does not point to an existing file.
Result::GenericIOError – if the image loading failed for any reason.

◆ loadPreviousFrame()

virtual FLE_DLL Result FlowEngine::CameraInterface::loadPreviousFrame ( ConstStringBuffer filePath )

pure virtual

Set the previous frame path and load the image (used by FlowEngineInterface::adaptMeshWithOpticalFlow)

Parameters

[in] filePath string buffer containing the UTF-8 encoded path to the image file. This (along with the pivot frame) will make the camera object suitable for optical flow computation FlowEngineInterface::adaptMeshWithOpticalFlow.

Returns

One of the following result codes:

Result::Success – if the image was loaded successfully.
Result::InvalidArgument – if filePath is not a valid string buffer.
Result::FileNotFound – if filePath does not point to an existing file.
Result::GenericIOError – if the image loading failed for any reason.

◆ orientWithControlPointConstraints()

virtual FLE_DLL Result FlowEngine::CameraInterface::orientWithControlPointConstraints	(	ConstBuffer< ControlPointConstraintInterface * >	controlPoints,
		bool	adjustInternalParameters,
		bool	adjustRadialDistortion
	)

pure virtual

Orients the camera given a set of control points.

Parameters

[in]	controlPoints	a buffer of control points that will be used for adjustment. They must have a valid world position.
[in]	adjustInternalParameters	adjust the internal parameters (focal, principal point and radial distortion).
[in]	adjustRadialDistortion	adjust the radial distortion.

Precondition: this camera must have a valid camera calibration.

Returns

One of the following result codes:

Result::Success – if the image was successfully oriented.
Result::InvalidArgument –
- if controlPoints is not a valid buffer or
- if controlPoints does not contains valid instances.
- if controlPoints is not at least 3 elements long.
Result::FileNotFound – if filePath does not point to an existing file.
Result::GenericError – if any other error occurred

◆ projectPoint()

virtual FLE_DLL Result FlowEngine::CameraInterface::projectPoint	(	const Point3 &	point,
		Point2 &	outImageCoords
	)		const

pure virtual

Projects a point in the image plane using the current camera parameters.

Parameters

[in]	point	3D point containing x-y-z.
[out]	outImageCoords	2D image coordinates x-y in the image.

Returns

One of the following result codes:

Result::Success – if point projection is inside the image frame.
Result::InvalidArgument – if point contains a non-finite value.
Result::GenericError – if point projection is outside the image frame. outImageCoords is not modified.

◆ reconstructionId()

virtual FLE_DLL ReconstructionID FlowEngine::CameraInterface::reconstructionId ( ) const

pure virtual

Returns: the reconstruction id of this camera

Note: The reconstruction id is an identification number unique amongst a set of reconstructed cameras. Suitable to use in maps to keep track of cameras (e.g.: when querying for visibility information)

Precondition

a camera must have been processed with one of the following functions:

FlowEngine::computeStructureAndMotion
FlowEngine::computeStructureAndMotionConstrained
FlowEngine::computeSparsePointCloudFromKnownPPM
FlowEngine::performBundleAdjustment

◆ resetMask()

virtual FLE_DLL void FlowEngine::CameraInterface::resetMask ( )

pure virtual

Resets the mask of this camera.

◆ saveToXmp()

virtual FLE_DLL Result FlowEngine::CameraInterface::saveToXmp ( ConstStringBuffer filePath ) const

pure virtual

Saves the camera parameters to an XMP file.

Parameters

[in] filePath string buffer that contains the UTF-8 file path.

Returns

One of the following result codes:

Result::Success – if the operation was successful.
Result::InvalidArgument – if filePath is not a valid string buffer.
Result::DiskWriteError – if the saving process failed for file system related reasons.
Result::FeatureNotAvailable – if this method is called by the Free version of the SDK.

Note: This function is not available in the free version of the SDK.

◆ saveUndistortedImage()

virtual FLE_DLL Result FlowEngine::CameraInterface::saveUndistortedImage	(	ConstStringBuffer	filePath,
		Size	width = `0`,
		Size	height = `0`,
		Size	channelBitDepth = `0`
	)		const

pure virtual

Save the undistorted version of this camera image to the specified file path.

Parameters

[in]	filePath	string buffer that contains the UTF-8 encoded path to save the image to. Can be any extension supported by ImageMagick.
[in]	width	(optional) the output image width. When left to default (zero), the output image will keep the original width.
[in]	height	(optional) the output image height. When left to default (zero), the output image will keep the original height.
[in]	channelBitDepth	(optional) the output image bitdepth. When left to default (zero), it will be automatically choosen from the format.

Precondition

a successful call to loadImage (directly or via a FlowEngine::CameraLoaderInterface).
a valid camera calibration associated to this camera.

Returns

One of the following result codes:

Result::Success – if the undistorted image was successfully saved to the specified file path.
Result::PreconditionNotMet – if one or more preconditions were not met.
Result::InvalidArgument – if filePath is not a valid string buffer.
Result::GenericError – if the image undistort algorithm failed for any reason.
Result::DiskWriteError – if the saving process failed for file system related reasons.

Note: This feature is not available in the free version of the SDK.

◆ setCameraCalibration()

virtual FLE_DLL void FlowEngine::CameraInterface::setCameraCalibration ( const CameraCalibrationInterface & cameraCalibration )

pure virtual

Set the camera calibration associated with this camera

Parameters

[in] cameraCalibration a valid CameraCalibration object

◆ setPPM()

virtual FLE_DLL Result FlowEngine::CameraInterface::setPPM ( ConstBuffer< double > ppm )

pure virtual

Set the camera extrinsic parameters Rotation and translation are extracted with the given ppm

Parameters

[in] ppm a 12 element buffer of doubles. Data is read in row-major order

◆ setR()

virtual FLE_DLL Result FlowEngine::CameraInterface::setR ( ConstBuffer< double > rot )

pure virtual

Set the camera Rotation R matrix

Parameters

[in] rot a 9 element buffer of doubles. Data is read in row-major order

◆ setT()

virtual FLE_DLL Result FlowEngine::CameraInterface::setT ( ConstBuffer< double > translation )

pure virtual

Set the camera translation t vector

Parameters

[in] translation a 3 element buffer of doubles. Data is read in row-major order

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~CameraInterface()

Member Function Documentation

◆ computeGroundSampleDistance()

◆ generateSTMap()

◆ getCameraCalibration()

◆ getDimensions()

◆ getImageFilePath()

◆ getImageFilePathLength()

◆ getPPM()

◆ getR()

◆ getT()

◆ isReconstructed()

◆ loadFromXmp()

◆ loadImage()

◆ loadMask()

◆ loadPivotFrame()

◆ loadPreviousFrame()

◆ orientWithControlPointConstraints()

◆ projectPoint()

◆ reconstructionId()

◆ resetMask()

◆ saveToXmp()

◆ saveUndistortedImage()

◆ setCameraCalibration()

◆ setPPM()

◆ setR()

◆ setT()