Optimizes a system of 3D points and keyframes from a loop closing detection. UUID: 8f05eea8-c1c6-11ea-b3de-0242ac130004 More...

Inheritance diagram for SolAR::api::loop::ILoopCorrector:

Collaboration diagram for SolAR::api::loop::ILoopCorrector:

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

virtual	~ILoopCorrector ()=default
	ILoopCorrector 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	correct (const SRef< SolAR::datastructure::Keyframe > queryKeyframe, const SRef< SolAR::datastructure::Keyframe > detectedLoopKeyframe, const SolAR::datastructure::Transform3Df &S_wl_wc, const std::vector< std::pair< uint32_t, uint32_t > > &duplicatedPointsIndices)=0
	corrects a loop of keyframes and their associated point clouds from a loop detection result. More...

Detailed Description

Optimizes a system of 3D points and keyframes from a loop closing detection. UUID: 8f05eea8-c1c6-11ea-b3de-0242ac130004

Member Function Documentation

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

pure virtual

corrects a loop of keyframes and their associated point clouds from a loop detection result.

Parameters

[in]	queryKeyframe	the query keyframe.
[in]	detectedLoopKeyframe	the detected loop keyframe.
[in]	S_wl_wc	3D similarity transformation (Sim(3)) from world c.s of the query keyframe to world c.s of the loop detected keyframe
[in]	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 loop closure is correctly corrected, else FrameworkReturnCode::_ERROR

virtual void SolAR::api::loop::ILoopCorrector::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: