Reproject keypoints with estimating depth to 3D cloud points. UUID: 166a0aad-8c0a-4cdc-9edf-41ff9e514212 Just implement the first and second interface, the third interface is implemented in AReprojectionStereo.
More...
#include <IReprojectionStereo.h>
Inheritance diagram for SolAR::api::geom::IReprojectionStereo:
Collaboration diagram for SolAR::api::geom::IReprojectionStereo:
Public Member Functions | |
| IReprojectionStereo ()=default | |
| IReprojectionStereo constructor. | |
| virtual | ~IReprojectionStereo ()=default |
| ~IReprojectionStereo | |
| virtual FrameworkReturnCode | reprojectToUnrectification (const std::vector< SolAR::datastructure::Keypoint > &rectifiedKeypoints, const SolAR::datastructure::RectificationParameters &rectParams, std::vector< SolAR::datastructure::Keypoint > &unrectifiedKeypoints)=0 |
| Reproject depth of rectified keypoints to unrectified keypoints. More... | |
| virtual FrameworkReturnCode | reprojectToCloudPoints (const std::vector< SolAR::datastructure::Keypoint > &undistortedKeypoints, const SRef< SolAR::datastructure::DescriptorBuffer > descriptors, const SolAR::datastructure::Transform3Df &pose, const SolAR::datastructure::CamCalibration &intrinsicParams, std::vector< SRef< SolAR::datastructure::CloudPoint > > &cloudPoints)=0 |
| Reproject 2D keypoints with depths to 3D cloud points in the world coordinate system. More... | |
| virtual FrameworkReturnCode | reprojectToCloudPoints (SRef< SolAR::datastructure::Frame > frame, const SolAR::datastructure::CamCalibration &intrinsicParams, std::vector< SRef< SolAR::datastructure::CloudPoint > > &cloudPoints)=0 |
| Reproject 2D keypoints with depths of a frame to 3D cloud points in the world coordinate system. More... | |
Detailed Description
Reproject keypoints with estimating depth to 3D cloud points. UUID: 166a0aad-8c0a-4cdc-9edf-41ff9e514212 Just implement the first and second interface, the third interface is implemented in AReprojectionStereo.
Member Function Documentation
◆ reprojectToCloudPoints() [1/2]
|
pure virtual |
Reproject 2D keypoints with depths to 3D cloud points in the world coordinate system.
- Parameters
-
[in] undistortedKeypoints The undistorted keypoints of image. [in] descriptors The descriptors corresponding to the keypoints. [in] pose The pose of image. [in] intrinsicParams The intrinsic parameters of the camera. [out] cloudPoints The output cloud points.
- Returns
- FrameworkReturnCode::SUCCESS if reprojecting succeed, else FrameworkReturnCode::_ERROR
Implemented in SolAR::base::geom::AReprojectionStereo.
◆ reprojectToCloudPoints() [2/2]
|
pure virtual |
Reproject 2D keypoints with depths of a frame to 3D cloud points in the world coordinate system.
- Parameters
-
[in] frame The frame including keypoints with their depth estimations. [in] intrinsicParams The intrinsic parameters of the camera. [out] cloudPoints The output cloud points.
- Returns
- FrameworkReturnCode::SUCCESS if reprojecting succeed, else FrameworkReturnCode::_ERROR
Implemented in SolAR::base::geom::AReprojectionStereo.
◆ reprojectToUnrectification()
|
pure virtual |
Reproject depth of rectified keypoints to unrectified keypoints.
- Parameters
-
[in] rectifiedKeypoints The rectified keypoints containing depth information. [in] rectParams The rectification parameters. [out] unrectifiedKeypoints The unrectified keypoints for estimating depth information.
- Returns
- FrameworkReturnCode::SUCCESS if reprojecting succeed, else FrameworkReturnCode::_ERROR
Implemented in SolAR::base::geom::AReprojectionStereo.
The documentation for this class was generated from the following file:
- interfaces/api/geom/IReprojectionStereo.h
