SolAR::api::pipeline::IMappingPipeline Class Reference

Defines a mapping pipeline. UUID: 2dc3cd33-5a11-4748-94a3-e7ab40462097 More...

#include <IMappingPipeline.h>

Inheritance diagram for SolAR::api::pipeline::IMappingPipeline:

Collaboration diagram for SolAR::api::pipeline::IMappingPipeline:

Public Member Functions
	IMappingPipeline ()=default
	IMappingPipeline default constructor.
virtual	~IMappingPipeline ()=default
	IMappingPipeline default destructor.
virtual FrameworkReturnCode	setCameraParameters (const SolAR::datastructure::CameraParameters &cameraParams)=0
	Set the camera parameters. More...
virtual FrameworkReturnCode	mappingProcessRequest (const SRef< SolAR::datastructure::Image > image, const SolAR::datastructure::Transform3Df &pose, const SolAR::datastructure::Transform3Df &transform, SolAR::datastructure::Transform3Df &updatedTransform, MappingStatus &status)=0
	Request to the mapping pipeline to process a new image/pose. More...
virtual FrameworkReturnCode	mappingProcessRequest (const SRef< SolAR::datastructure::Image > image, const SolAR::datastructure::Transform3Df &pose, MappingStatus &status)=0
	Request to the mapping pipeline to process a new image/pose. More...
virtual FrameworkReturnCode	mappingProcessRequest (const SRef< SolAR::datastructure::Image > image, const SolAR::datastructure::Transform3Df &pose, SolAR::datastructure::Transform3Df &updatedTransform, MappingStatus &status)=0
	Request to the mapping pipeline to process a new image/pose. More...
virtual FrameworkReturnCode	getDataForVisualization (std::vector< SRef< SolAR::datastructure::CloudPoint > > &outputPointClouds, std::vector< SolAR::datastructure::Transform3Df > &keyframePoses) const =0
	Provide the current data from the mapping pipeline context for visualization (resulting from all mapping processing since the start of the pipeline) More...
Public Member Functions inherited from SolAR::api::pipeline::IPipeline
virtual FrameworkReturnCode	init ()=0
	Initialization of the pipeline. More...
virtual FrameworkReturnCode	start ()=0
	Start the pipeline. More...
virtual FrameworkReturnCode	stop ()=0
	Stop the pipeline. More...

Detailed Description

Defines a mapping pipeline. UUID: 2dc3cd33-5a11-4748-94a3-e7ab40462097

This class provides the interface to define a mapping processing pipeline.

Member Function Documentation

getDataForVisualization()

virtual FrameworkReturnCode SolAR::api::pipeline::IMappingPipeline::getDataForVisualization ( std::vector< SRef< SolAR::datastructure::CloudPoint > > &  outputPointClouds, std::vector< SolAR::datastructure::Transform3Df > &  keyframePoses  ) const

pure virtual

Provide the current data from the mapping pipeline context for visualization (resulting from all mapping processing since the start of the pipeline)

Parameters

[out]	outputPointClouds	pipeline current point clouds
[out]	keyframePoses	pipeline current keyframe poses

Returns

FrameworkReturnCode::SUCCESS if data are available, else FrameworkReturnCode::_ERROR

Implemented in SolAR::base::pipeline::AMappingPipeline.

mappingProcessRequest() [1/3]

virtual FrameworkReturnCode SolAR::api::pipeline::IMappingPipeline::mappingProcessRequest ( const SRef< SolAR::datastructure::Image >  image, const SolAR::datastructure::Transform3Df &  pose, const SolAR::datastructure::Transform3Df &  transform, SolAR::datastructure::Transform3Df &  updatedTransform, MappingStatus &  status  )

pure virtual

Request to the mapping pipeline to process a new image/pose.

Parameters

[in]	image	the input image to process
[in]	pose	the input pose in the device coordinate system
[in]	transform	the transformation matrix from the device coordinate system to the world coordinate system
[out]	updatedTransform	the refined transformation by a loop closure detection
[out]	status	the current status of the mapping pipeline

Returns

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

Implemented in SolAR::base::pipeline::AMappingPipeline.

mappingProcessRequest() [2/3]

virtual FrameworkReturnCode SolAR::api::pipeline::IMappingPipeline::mappingProcessRequest ( const SRef< SolAR::datastructure::Image >  image, const SolAR::datastructure::Transform3Df &  pose, MappingStatus &  status  )

pure virtual

Request to the mapping pipeline to process a new image/pose.

Parameters

[in]	image	the input image to process
[in]	pose	the input pose in the world coordinate system
[out]	status	the current status of the mapping pipeline

Returns

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

Implemented in SolAR::base::pipeline::AMappingPipeline.

mappingProcessRequest() [3/3]

virtual FrameworkReturnCode SolAR::api::pipeline::IMappingPipeline::mappingProcessRequest ( const SRef< SolAR::datastructure::Image >  image, const SolAR::datastructure::Transform3Df &  pose, SolAR::datastructure::Transform3Df &  updatedTransform, MappingStatus &  status  )

pure virtual

Request to the mapping pipeline to process a new image/pose.

Parameters

[in]	image	the input image to process
[in]	pose	the input pose in the world coordinate system
[out]	updatedTransform	the refined transformation by a loop closure detection
[out]	status	the current status of the mapping pipeline

Returns

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

Implemented in SolAR::base::pipeline::AMappingPipeline.

setCameraParameters()

virtual FrameworkReturnCode SolAR::api::pipeline::IMappingPipeline::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

Implemented in SolAR::base::pipeline::AMappingPipeline.

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

• interfaces/api/pipeline/IMappingPipeline.h