Detect a loop closure from a given keyframe. UUID: a267c93a-c1c6-11ea-b3de-0242ac130004 More...

Inheritance diagram for SolAR::api::loop::ILoopClosureDetector:

Collaboration diagram for SolAR::api::loop::ILoopClosureDetector:

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

virtual	~ILoopClosureDetector ()=default
	ILoopClosureDetector default destructor.

virtual void	setCameraParameters (const SolAR::datastructure::CamCalibration &intrinsicParams, const SolAR::datastructure::CamDistortion &distortionParams)=0
	this method is used to set intrinsic parameters and distorsion of the camera More...

virtual FrameworkReturnCode	detect (const SRef< SolAR::datastructure::Keyframe > queryKeyframe, SRef< SolAR::datastructure::Keyframe > &detectedLoopKeyframe, SolAR::datastructure::Transform3Df &sim3Transform, std::vector< std::pair< uint32_t, uint32_t > > &duplicatedPointsIndices) const =0
	Detect a loop closure from a given keyframe. More...

Detailed Description

Detect a loop closure from a given keyframe. UUID: a267c93a-c1c6-11ea-b3de-0242ac130004

Member Function Documentation

virtual FrameworkReturnCode SolAR::api::loop::ILoopClosureDetector::detect	(	const SRef< SolAR::datastructure::Keyframe >	queryKeyframe,
		SRef< SolAR::datastructure::Keyframe > &	detectedLoopKeyframe,
		SolAR::datastructure::Transform3Df &	sim3Transform,
		std::vector< std::pair< uint32_t, uint32_t > > &	duplicatedPointsIndices
	)		const

pure virtual

Detect a loop closure from a given keyframe.

Parameters

[in]	queryKeyframe	the query keyframe.
[out]	detectedLoopKeyframe	the detected loop keyframe.
[out]	sim3Transform	3D similarity transformation (Sim(3)) from query keyframe to the detected loop keyframe.
[out]	duplicatedPointsIndices	indices of duplicated cloud points. The first index is the id of point cloud seen from the detected loop keyframe. The second one is id of point cloud seen from the query keyframe

Returns: FrameworkReturnCode::SUCCESS if detect a loop closure, else FrameworkReturnCode::_ERROR

virtual void SolAR::api::loop::ILoopClosureDetector::setCameraParameters	(	const SolAR::datastructure::CamCalibration &	intrinsicParams,
		const SolAR::datastructure::CamDistortion &	distortionParams
	)

pure virtual

this method is used to set intrinsic parameters and distorsion of the camera

Parameters

[in]	intrinsicParams	Camera calibration matrix parameters.
[in]	distortionParams	Camera distortion parameters.

The documentation for this class was generated from the following file: