Recovers a set of pre-recorded keyframes close to a given frame. UUID: f60980ce-bdbd-11e8-a355-529269fb1459 More...

#include <IKeyframeRetriever.h>

Inheritance diagram for SolAR::api::reloc::IKeyframeRetriever:

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Collaboration diagram for SolAR::api::reloc::IKeyframeRetriever:

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

virtual	~IKeyframeRetriever ()=default
	IKeyframeRetriever default destructor.

virtual FrameworkReturnCode	addKeyframe (const SRef< SolAR::datastructure::Keyframe > keyframe)=0
	Add a keyframe to the retrieval model. More...

virtual FrameworkReturnCode	suppressKeyframe (uint32_t keyframe_id)=0
	Suppress a keyframe from the retrieval model. More...

virtual FrameworkReturnCode	retrieve (const SRef< SolAR::datastructure::Frame > frame, std::vector< uint32_t > &retKeyframes_id)=0
	Retrieve a set of keyframes close to the frame pass in input. More...

virtual FrameworkReturnCode	retrieve (const SRef< SolAR::datastructure::Frame > frame, const std::set< unsigned int > &canKeyframes_id, std::vector< uint32_t > &retKeyframes_id)=0
	Retrieve a set of keyframes close to the frame pass in input. More...

virtual FrameworkReturnCode	saveToFile (const std::string &file) const =0
	This method allows to save the keyframe feature to the external file. More...

virtual FrameworkReturnCode	loadFromFile (const std::string &file)=0
	This method allows to load the keyframe feature from the external file. More...

virtual FrameworkReturnCode	match (const SRef< SolAR::datastructure::Frame > frame, const SRef< SolAR::datastructure::Keyframe > keyframe, std::vector< SolAR::datastructure::DescriptorMatch > &matches)=0
	Match a frame with a keyframe. More...

virtual FrameworkReturnCode	match (const std::vector< int > &indexDescriptors, const SRef< SolAR::datastructure::DescriptorBuffer > descriptors, const SRef< SolAR::datastructure::Keyframe > keyframe, std::vector< SolAR::datastructure::DescriptorMatch > &matches)=0
	Match a set of descriptors with a keyframe. More...

virtual const SRef< SolAR::datastructure::KeyframeRetrieval > &	getConstKeyframeRetrieval () const =0
	This method returns the keyframe retrieval. More...

virtual std::unique_lock< std::mutex >	getKeyframeRetrieval (SRef< SolAR::datastructure::KeyframeRetrieval > &keyframeRetrieval)=0
	This method returns the keyframe retrieval. More...

virtual void	setKeyframeRetrieval (const SRef< SolAR::datastructure::KeyframeRetrieval > keyframeRetrieval)=0
	This method is to set the keyframe retrieval. More...

Detailed Description

Recovers a set of pre-recorded keyframes close to a given frame. UUID: f60980ce-bdbd-11e8-a355-529269fb1459

This class provides a solution to retrieve a set of keyframes corresponding to a given frame.

Member Function Documentation

◆ addKeyframe()

virtual FrameworkReturnCode SolAR::api::reloc::IKeyframeRetriever::addKeyframe ( const SRef< SolAR::datastructure::Keyframe > keyframe )

pure virtual

Add a keyframe to the retrieval model.

Parameters

[in] keyframe the keyframe to add to the retrieval model

Returns: FrameworkReturnCode::SUCCESS if the keyfram adding succeed, else FrameworkReturnCode::_ERROR

◆ getConstKeyframeRetrieval()

virtual const SRef< SolAR::datastructure::KeyframeRetrieval > & SolAR::api::reloc::IKeyframeRetriever::getConstKeyframeRetrieval ( ) const

pure virtual

This method returns the keyframe retrieval.

Returns: the keyframe retrieval

◆ getKeyframeRetrieval()

virtual std::unique_lock< std::mutex > SolAR::api::reloc::IKeyframeRetriever::getKeyframeRetrieval ( SRef< SolAR::datastructure::KeyframeRetrieval > & keyframeRetrieval )

pure virtual

This method returns the keyframe retrieval.

Parameters

[out] keyframeRetrieval the keyframe retrieval of map

Returns: the keyframe retrieval

◆ loadFromFile()

virtual FrameworkReturnCode SolAR::api::reloc::IKeyframeRetriever::loadFromFile ( const std::string & file )

pure virtual

This method allows to load the keyframe feature from the external file.

Parameters

[in] file the file name

Returns: FrameworkReturnCode::SUCCESS if the suppression succeed, else FrameworkReturnCode::_ERROR.

◆ match() [1/2]

virtual FrameworkReturnCode SolAR::api::reloc::IKeyframeRetriever::match	(	const SRef< SolAR::datastructure::Frame >	frame,
		const SRef< SolAR::datastructure::Keyframe >	keyframe,
		std::vector< SolAR::datastructure::DescriptorMatch > &	matches
	)

pure virtual

Match a frame with a keyframe.

Parameters

[in]	frame	the frame to match
[in]	keyframe	id of keyframe to match
[out]	matches	a set of matches between frame and keyframe

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

◆ match() [2/2]

virtual FrameworkReturnCode SolAR::api::reloc::IKeyframeRetriever::match	(	const std::vector< int > &	indexDescriptors,
		const SRef< SolAR::datastructure::DescriptorBuffer >	descriptors,
		const SRef< SolAR::datastructure::Keyframe >	keyframe,
		std::vector< SolAR::datastructure::DescriptorMatch > &	matches
	)

pure virtual

Match a set of descriptors with a keyframe.

Parameters

[in]	indexDescriptors	index of descriptors to match.
[in]	descriptors	a descriptor buffer contains all descriptors
[in]	keyframe	id of keyframe to match
[out]	matches	a set of matches between frame and keyframe

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

◆ retrieve() [1/2]

virtual FrameworkReturnCode SolAR::api::reloc::IKeyframeRetriever::retrieve	(	const SRef< SolAR::datastructure::Frame >	frame,
		const std::set< unsigned int > &	canKeyframes_id,
		std::vector< uint32_t > &	retKeyframes_id
	)

pure virtual

Retrieve a set of keyframes close to the frame pass in input.

Parameters

[in]	frame	the frame for which we want to retrieve close keyframes.
[in]	canKeyframes_id	a set including id of keyframe candidates
[out]	retKeyframes_id	a set of keyframe ids which are close to the frame pass in input

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

◆ retrieve() [2/2]

virtual FrameworkReturnCode SolAR::api::reloc::IKeyframeRetriever::retrieve	(	const SRef< SolAR::datastructure::Frame >	frame,
		std::vector< uint32_t > &	retKeyframes_id
	)

pure virtual

Retrieve a set of keyframes close to the frame pass in input.

Parameters

[in]	frame	the frame for which we want to retrieve close keyframes.
[out]	retKeyframes_id	a set of keyframe ids which are close to the frame pass in input

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

◆ saveToFile()

virtual FrameworkReturnCode SolAR::api::reloc::IKeyframeRetriever::saveToFile ( const std::string & file ) const

pure virtual

This method allows to save the keyframe feature to the external file.

Parameters

[in] file the file name

Returns: FrameworkReturnCode::SUCCESS if the suppression succeed, else FrameworkReturnCode::_ERROR.

◆ setKeyframeRetrieval()

virtual void SolAR::api::reloc::IKeyframeRetriever::setKeyframeRetrieval ( const SRef< SolAR::datastructure::KeyframeRetrieval > keyframeRetrieval )

pure virtual

This method is to set the keyframe retrieval.

Parameters

[in] keyframeRetrieval the keyframe retrieval of map

◆ suppressKeyframe()

virtual FrameworkReturnCode SolAR::api::reloc::IKeyframeRetriever::suppressKeyframe ( uint32_t keyframe_id )

pure virtual

Suppress a keyframe from the retrieval model.

Parameters

[in] keyframe_id the keyframe to supress from the retrieval model

Returns: FrameworkReturnCode::SUCCESS if the keyfram adding succeed, else FrameworkReturnCode::_ERROR

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

interfaces/api/reloc/IKeyframeRetriever.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ addKeyframe()

◆ getConstKeyframeRetrieval()

◆ getKeyframeRetrieval()

◆ loadFromFile()

◆ match() [1/2]

◆ match() [2/2]

◆ retrieve() [1/2]

◆ retrieve() [2/2]

◆ saveToFile()

◆ setKeyframeRetrieval()

◆ suppressKeyframe()