FlowEngine::Equirectangular Class Reference

#include <Equirectangular.h>

Static Public Member Functions
static FLE_DLL Result	decomposeEquirectangularImage (ConstBuffer< double > pose, Image image, double fieldOfView, Buffer< CameraInterface * > inOutCameras, Buffer< Image > inOutBubbleImages=Buffer< Image >())
static FLE_DLL Result	generateEquirectangularImage (const StereoPointCloudInterface &stereoPointCloud, ConstBuffer< double > pose, Image inOutImage)

Detailed Description

Utility class to generate equirectangular-projection images and decompose them.

Member Function Documentation

decomposeEquirectangularImage()

FLE_DLL Result FlowEngine::Equirectangular::decomposeEquirectangularImage ( ConstBuffer< double >  pose, Image  image, double  fieldOfView, Buffer< CameraInterface * >  inOutCameras, Buffer< Image >  inOutBubbleImages = Buffer< Image >()  )

static

Decomposes an equirectangular image.

• If inOutCameras is specified (i.e. is a buffer of at least 6 valid CameraInterface objects), then this function will create 6 linked cameras paired with a valid CameraCalibration.
• If outBubbleImages is specified (i.e. is a buffer of a at least 6 Image structures), then the function will copy the bubble images to each Image contained in the buffer. Each Image should have appropriate dimensions: given W = image.width and H = image.height then the expected width and height is: (int) max( W, H ) / 3

  Parameters

  [in]	pose	a 4x4 matrix (row major) describing the position and orientation of the virtual camera w.r.t. the point cloud.
  [in]	image	the equirectangular image to be decomposed.
  [in]	fieldOfView	the field of view of the output decomposed cameras. Sensible values should account for a small overlap to avoid visibile seems between different views. Valid range is [90.0, 120.0] degrees. Use 0.0 to use the default value (92.0 degrees).
  [in,out]	inOutCameras	(optional) a buffer of at least 6 cameras that will be linked together
  [in,out]	inOutBubbleImages	(optional) a buffer of at least 6 valid Image that will receive the undistorted bubble view images.

• Result::Success – if inOutCameras is filled with 6 linked cameras.
• Result::InvalidArgument –
  • if pose is not a valid buffer.
  • if fieldOfView is not in the valid range.
  • if both inOutImage and inOutBubbleImages are not valid buffers.
• Result::BufferTooSmall –
  • if inOutCameras is not at least 6 elements long.
  • if outBubbleImages is a valid buffer but it's not at least 6 elements long or each image is of expected dimensions (see note).

generateEquirectangularImage()

Result FlowEngine::Equirectangular::generateEquirectangularImage ( const StereoPointCloudInterface &  stereoPointCloud, ConstBuffer< double >  pose, Image  inOutImage  )

static

Generates an equirectangular image with the supplied point cloud.

Parameters

[in]	pose	a 4x4 matrix (row major) describing the position and orientation of the virtual camera w.r.t. the point cloud.
[in]	stereoPointCloud	a valid dense point cloud. Its points (and colors, if present) will be used to generate the equirectangular image.
[in,out]	inOutImage	an image data, filled with the requested width and height and a buffer big enough to receive the image data.

Returns

One of the following result codes:

• Result::Success – if inOutImage data buffer was filled with the computed equirectangular image.
• Result::InvalidArgument –
  • if pose is not a valid buffer.
  • if inOutImage has not valid dimensions or a valid buffer.
• Result::BufferTooSmall – if inOutImage data buffer is too small to receive the requested data.
• Result::OutOfMemoryError – if the system ran out of memory.
• Result::GenericError – if any other error occurred. Check the log for more information.