Detects an overlap between different maps. UUID: fe6a40ca-137c-11eb-adc1-0242ac120002 More...

Inheritance diagram for SolAR::api::loop::IOverlapDetector:

Collaboration diagram for SolAR::api::loop::IOverlapDetector:

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

virtual	~IOverlapDetector ()=default
	IOverlapDetector 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::Map > globalMap, const SRef< SolAR::datastructure::Map > floatingMap, SolAR::datastructure::Transform3Df &sim3Transform, std::vector< std::pair< uint32_t, uint32_t > > &cpOverlapIndices) const =0
	Detect overlap between two floating maps with different refences. More...

virtual FrameworkReturnCode	detect (const SRef< SolAR::datastructure::Map > globalMap, const SRef< SolAR::datastructure::Map > floatingMap, std::vector< SolAR::datastructure::Transform3Df > &sim3Transform, std::vector< std::pair< uint32_t, uint32_t > > &overlapIndices, std::vector< double > &scores) const =0
	Detect overlap between two floating maps with different refences. More...

Detailed Description

Detects an overlap between different maps. UUID: fe6a40ca-137c-11eb-adc1-0242ac120002

Member Function Documentation

virtual FrameworkReturnCode SolAR::api::loop::IOverlapDetector::detect	(	const SRef< SolAR::datastructure::Map >	globalMap,
		const SRef< SolAR::datastructure::Map >	floatingMap,
		SolAR::datastructure::Transform3Df &	sim3Transform,
		std::vector< std::pair< uint32_t, uint32_t > > &	cpOverlapIndices
	)		const

pure virtual

Detect overlap between two floating maps with different refences.

Parameters

[in]	globalMap	global map as reference.
[in]	floatingMap	floating map as the map to merge.
[out]	sim3Transform	3D similarity transformation (Sim(3)) from the floating map to the global map.
[out]	cpOverlapIndices	pairs of detected overlap cloud points indices of floating map and global map.

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

virtual FrameworkReturnCode SolAR::api::loop::IOverlapDetector::detect	(	const SRef< SolAR::datastructure::Map >	globalMap,
		const SRef< SolAR::datastructure::Map >	floatingMap,
		std::vector< SolAR::datastructure::Transform3Df > &	sim3Transform,
		std::vector< std::pair< uint32_t, uint32_t > > &	overlapIndices,
		std::vector< double > &	scores
	)		const

pure virtual

Detect overlap between two floating maps with different refences.

Parameters

[in]	globalMap	global map as reference.
[in]	floatingMap	floating map as the map to merge.
[out]	sim3Transform	3D similarity transformation (Sim(3)) from query keyframe from the floating map to the detected overlaped keyframe in global map.
[out]	overlapIndices	pairs of detected overlap keyframe indices of floating map and global map.
[out]	scores	: represent scores of overlap candidates.

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

virtual void SolAR::api::loop::IOverlapDetector::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: