Defines an asynchronous relocalization pipeline. UUID: 58389ff0-5695-11ec-bf63-0242ac130002 More...

#include <IAsyncRelocalizationPipeline.h>

Inheritance diagram for SolAR::api::pipeline::IAsyncRelocalizationPipeline:

Collaboration diagram for SolAR::api::pipeline::IAsyncRelocalizationPipeline:

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

virtual	~IAsyncRelocalizationPipeline ()=default
	IAsyncRelocalizationPipeline default destructor.

virtual FrameworkReturnCode	init (PipelineMode pipelineMode)=0
	Init the pipeline and specify the mode for the pipeline processing. More...

PipelineMode	getProcessingMode () const
	Return the current mode used for the pipeline processing. More...

virtual FrameworkReturnCode	setCameraParameters (const SolAR::datastructure::CameraParameters &cameraParams)=0
	Set the camera parameters. More...

virtual FrameworkReturnCode	getCameraParameters (SolAR::datastructure::CameraParameters &cameraParams) const =0
	Get the camera parameters. More...

virtual FrameworkReturnCode	relocalizeProcessRequest (const SRef< SolAR::datastructure::Image > image, const SolAR::datastructure::Transform3Df &pose, const std::chrono::system_clock::time_point &timestamp, TransformStatus &transform3DStatus, SolAR::datastructure::Transform3Df &transform3D, float_t &confidence)=0
	Request the asynchronous relocalization pipeline to process a new image to calculate the corresponding 3D transformation to the SolAR coordinates system. More...

virtual FrameworkReturnCode	get3DTransformRequest (TransformStatus &transform3DStatus, SolAR::datastructure::Transform3Df &transform3D, float_t &confidence)=0
	Request the asynchronous relocalization pipeline to get the 3D transform offset between the device coordinate system and the SolAR coordinate system. More...

virtual FrameworkReturnCode	getLastPose (SolAR::datastructure::Transform3Df &pose, const PoseType poseType=SOLAR_POSE) const =0
	Return the last pose processed by the pipeline. More...

virtual FrameworkReturnCode	resetMap () const =0
	Reset the map stored by the map update pipeline. More...

virtual FrameworkReturnCode	init ()=0
	Initialization of the pipeline. More...

Public Member Functions inherited from SolAR::api::pipeline::IPipeline
virtual FrameworkReturnCode	start ()=0
	Start the pipeline. More...

virtual FrameworkReturnCode	stop ()=0
	Stop the pipeline. More...

Protected Attributes
PipelineMode	m_PipelineMode = RELOCALIZATION_AND_MAPPING
	Mode to use for the pipeline processing (Relocalization and Mapping by default)

Detailed Description

Defines an asynchronous relocalization pipeline. UUID: 58389ff0-5695-11ec-bf63-0242ac130002

This class provides the interface to define an asynchronous relocalization processing pipeline.

Member Function Documentation

◆ get3DTransformRequest()

virtual FrameworkReturnCode SolAR::api::pipeline::IAsyncRelocalizationPipeline::get3DTransformRequest	(	TransformStatus &	transform3DStatus,
		SolAR::datastructure::Transform3Df &	transform3D,
		float_t &	confidence
	)

pure virtual

Request the asynchronous relocalization pipeline to get the 3D transform offset between the device coordinate system and the SolAR coordinate system.

Parameters

[out]	transform3DStatus	the status of the current 3D transformation matrix
[out]	transform3D	: the current 3D transformation matrix (if available)
[out]	confidence	the confidence score of the 3D transformation matrix

Returns: FrameworkReturnCode::SUCCESS if the 3D transform is available, else FrameworkReturnCode::_ERROR

◆ getCameraParameters()

virtual FrameworkReturnCode SolAR::api::pipeline::IAsyncRelocalizationPipeline::getCameraParameters ( SolAR::datastructure::CameraParameters & cameraParams ) const

pure virtual

Get the camera parameters.

Parameters

[out] cameraParams the camera parameters (its resolution and its focal)

Returns: FrameworkReturnCode::SUCCESS if the camera parameters are correctly returned, else FrameworkReturnCode::_ERROR

◆ getLastPose()

virtual FrameworkReturnCode SolAR::api::pipeline::IAsyncRelocalizationPipeline::getLastPose	(	SolAR::datastructure::Transform3Df &	pose,
		const PoseType	poseType = `SOLAR_POSE`
	)		const

pure virtual

Return the last pose processed by the pipeline.

Parameters

[out]	pose	the last pose if available
[in]	poseType	the type of the requested pose in the SolAR coordinate system (by default) in the device coordinate system

Returns: FrameworkReturnCode::SUCCESS if the last pose is available, else FrameworkReturnCode::_ERROR

◆ getProcessingMode()

PipelineMode SolAR::api::pipeline::IAsyncRelocalizationPipeline::getProcessingMode ( ) const

inline

Return the current mode used for the pipeline processing.

Returns: current mode

◆ init() [1/2]

virtual FrameworkReturnCode SolAR::api::pipeline::IPipeline::init ( )

virtual

Initialization of the pipeline.

Returns: FrameworkReturnCode::SUCCESS if the init succeed, else FrameworkReturnCode::_ERROR

Implements SolAR::api::pipeline::IPipeline.

◆ init() [2/2]

virtual FrameworkReturnCode SolAR::api::pipeline::IAsyncRelocalizationPipeline::init ( PipelineMode pipelineMode )

pure virtual

Init the pipeline and specify the mode for the pipeline processing.

Parameters

[in] pipelineMode mode to use for pipeline processing

Returns: FrameworkReturnCode::SUCCESS if the mode is correctly initialized, else FrameworkReturnCode::_ERROR

◆ relocalizeProcessRequest()

virtual FrameworkReturnCode SolAR::api::pipeline::IAsyncRelocalizationPipeline::relocalizeProcessRequest	(	const SRef< SolAR::datastructure::Image >	image,
		const SolAR::datastructure::Transform3Df &	pose,
		const std::chrono::system_clock::time_point &	timestamp,
		TransformStatus &	transform3DStatus,
		SolAR::datastructure::Transform3Df &	transform3D,
		float_t &	confidence
	)

pure virtual

Request the asynchronous relocalization pipeline to process a new image to calculate the corresponding 3D transformation to the SolAR coordinates system.

Parameters

[in]	image	the image to process
[in]	pose	the original pose in the client coordinates system
[in]	timestamp	the timestamp of the image
[out]	transform3DStatus	the status of the current 3D transformation matrix
[out]	transform3D	the current 3D transformation matrix (if available)
[out]	confidence	the confidence score of the 3D transformation matrix

Returns: FrameworkReturnCode::SUCCESS if the data are ready to be processed, else FrameworkReturnCode::_ERROR

◆ resetMap()

virtual FrameworkReturnCode SolAR::api::pipeline::IAsyncRelocalizationPipeline::resetMap ( ) const

pure virtual

Reset the map stored by the map update pipeline.

Returns: FrameworkReturnCode::SUCCESS if the map is correctly reset, else FrameworkReturnCode::_ERROR

◆ setCameraParameters()

virtual FrameworkReturnCode SolAR::api::pipeline::IAsyncRelocalizationPipeline::setCameraParameters ( const SolAR::datastructure::CameraParameters & cameraParams )

pure virtual

Set the camera parameters.

Parameters

[in] cameraParams the camera parameters (its resolution and its focal)

Returns: FrameworkReturnCode::SUCCESS if the camera parameters are correctly set, else FrameworkReturnCode::_ERROR

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

interfaces/api/pipeline/IAsyncRelocalizationPipeline.h

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ get3DTransformRequest()

◆ getCameraParameters()

◆ getLastPose()

◆ getProcessingMode()

◆ init() [1/2]

◆ init() [2/2]

◆ relocalizeProcessRequest()

◆ resetMap()

◆ setCameraParameters()