Solar
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Defines a mapping pipeline. UUID: 2dc3cd33-5a11-4748-94a3-e7ab40462097
More...
#include <IMappingPipeline.h>
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... | |
Defines a mapping pipeline. UUID: 2dc3cd33-5a11-4748-94a3-e7ab40462097
This class provides the interface to define a mapping processing pipeline.
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pure virtual |
Provide the current data from the mapping pipeline context for visualization (resulting from all mapping processing since the start of the pipeline)
[out] | outputPointClouds | pipeline current point clouds |
[out] | keyframePoses | pipeline current keyframe poses |
Implemented in SolAR::base::pipeline::AMappingPipeline.
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pure virtual |
Request to the mapping pipeline to process a new image/pose.
[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 |
Implemented in SolAR::base::pipeline::AMappingPipeline.
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pure virtual |
Request to the mapping pipeline to process a new image/pose.
[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 |
Implemented in SolAR::base::pipeline::AMappingPipeline.
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pure virtual |
Request to the mapping pipeline to process a new image/pose.
[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 |
Implemented in SolAR::base::pipeline::AMappingPipeline.
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pure virtual |
Set the camera parameters.
[in] | cameraParams | the camera parameters (its resolution and its focal) |
Implemented in SolAR::base::pipeline::AMappingPipeline.