Matches two sets of descriptors based on geometric constraints. UUID: 2ed445a6-32f3-44a1-9dc5-3b0cfec778db Just implement the first interface, the second interface is implemented in ADescriptorMatcherGeometric. More...

#include <IDescriptorMatcherGeometric.h>

Inheritance diagram for SolAR::api::features::IDescriptorMatcherGeometric:

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Collaboration diagram for SolAR::api::features::IDescriptorMatcherGeometric:

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Public Member Functions
	IDescriptorMatcherGeometric ()=default
	IDescriptorMatcherGeometric default constructor.

virtual	~IDescriptorMatcherGeometric ()=default
	IDescriptorMatcherGeometric default destructor.

virtual FrameworkReturnCode	match (const SRef< SolAR::datastructure::DescriptorBuffer > descriptors1, const SRef< SolAR::datastructure::DescriptorBuffer > descriptors2, const std::vector< SolAR::datastructure::Keypoint > &undistortedKeypoints1, const std::vector< SolAR::datastructure::Keypoint > &undistortedKeypoints2, const SolAR::datastructure::Transform3Df &pose1, const SolAR::datastructure::Transform3Df &pose2, const SolAR::datastructure::CameraParameters &camParams, std::vector< SolAR::datastructure::DescriptorMatch > &matches, const std::vector< uint32_t > &mask={})=0
	Match two sets of descriptors from two frames based on epipolar constraint. More...

virtual FrameworkReturnCode	match (const SRef< SolAR::datastructure::Frame > frame1, const SRef< SolAR::datastructure::Frame > frame2, const SolAR::datastructure::CameraParameters &camParams, std::vector< SolAR::datastructure::DescriptorMatch > &matches, const std::vector< uint32_t > &mask={})=0
	Match two sets of descriptors from two frames based on epipolar constraint. More...

Detailed Description

Matches two sets of descriptors based on geometric constraints. UUID: 2ed445a6-32f3-44a1-9dc5-3b0cfec778db Just implement the first interface, the second interface is implemented in ADescriptorMatcherGeometric.

Member Function Documentation

◆ match() [1/2]

virtual FrameworkReturnCode SolAR::api::features::IDescriptorMatcherGeometric::match	(	const SRef< SolAR::datastructure::DescriptorBuffer >	descriptors1,
		const SRef< SolAR::datastructure::DescriptorBuffer >	descriptors2,
		const std::vector< SolAR::datastructure::Keypoint > &	undistortedKeypoints1,
		const std::vector< SolAR::datastructure::Keypoint > &	undistortedKeypoints2,
		const SolAR::datastructure::Transform3Df &	pose1,
		const SolAR::datastructure::Transform3Df &	pose2,
		const SolAR::datastructure::CameraParameters &	camParams,
		std::vector< SolAR::datastructure::DescriptorMatch > &	matches,
		const std::vector< uint32_t > &	mask = `{}`
	)

pure virtual

Match two sets of descriptors from two frames based on epipolar constraint.

Parameters

[in]	descriptors1	The first set of descriptors.
[in]	descriptors2	The second set of descriptors.
[in]	undistortedKeypoints1	The first set of undistorted keypoints.
[in]	undistortedKeypoints2	The second set of undistorted keypoints.
[in]	pose1	The first pose.
[in]	pose2	The second pose.
[in]	camParams	The intrinsic parameters of the camera.
[out]	matches	A vector of matches representing pairs of indices relatively to the first and second set of descriptors.
[in]	mask	The indices of descriptors in the first frame are used for matching to the second frame. If it is empty then all will be used.

Returns: FrameworkReturnCode::SUCCESS if matching succeed, else FrameworkReturnCode::_ERROR

Implemented in SolAR::base::features::ADescriptorMatcherGeometric.

◆ match() [2/2]

virtual FrameworkReturnCode SolAR::api::features::IDescriptorMatcherGeometric::match	(	const SRef< SolAR::datastructure::Frame >	frame1,
		const SRef< SolAR::datastructure::Frame >	frame2,
		const SolAR::datastructure::CameraParameters &	camParams,
		std::vector< SolAR::datastructure::DescriptorMatch > &	matches,
		const std::vector< uint32_t > &	mask = `{}`
	)