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SolAR::api::pipeline::IMappingPipeline Class Referenceabstract

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

#include <IMappingPipeline.h>

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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]outputPointCloudspipeline current point clouds
[out]keyframePosespipeline 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]imagethe input image to process
[in]posethe input pose in the device coordinate system
[in]transformthe transformation matrix from the device coordinate system to the world coordinate system
[out]updatedTransformthe refined transformation by a loop closure detection
[out]statusthe 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]imagethe input image to process
[in]posethe input pose in the world coordinate system
[out]statusthe 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]imagethe input image to process
[in]posethe input pose in the world coordinate system
[out]updatedTransformthe refined transformation by a loop closure detection
[out]statusthe 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]cameraParamsthe 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.


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