Allow to merge local map or floating map in the global map. UUID: eb9b9921-b063-42a8-8282-9ed53ee21d96 More...

#include <IMapFusion.h>

Inheritance diagram for SolAR::api::solver::map::IMapFusion:

Collaboration diagram for SolAR::api::solver::map::IMapFusion:

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

virtual	~IMapFusion ()=default
	IMapFusion default destructor.

virtual FrameworkReturnCode	merge (SRef< SolAR::datastructure::Map > map, SRef< SolAR::datastructure::Map > globalMap, SolAR::datastructure::Transform3Df &transform, uint32_t &nbMatches, float &error)=0
	Merge a map in the global map. The map can be a local map (know transformation to the global map) or a floating map. More...

virtual FrameworkReturnCode	merge (SRef< SolAR::datastructure::Map > map, SRef< SolAR::datastructure::Map > globalMap, SolAR::datastructure::Transform3Df &transform, const std::vector< std::pair< uint32_t, uint32_t > > &cpOverlapIndices, bool isRefineTransform=false)=0
	Merge a map in the global map. The map can be a local map (know transformation to the global map) or a floating map. More...

Detailed Description

Allow to merge local map or floating map in the global map. UUID: eb9b9921-b063-42a8-8282-9ed53ee21d96

Member Function Documentation

virtual FrameworkReturnCode SolAR::api::solver::map::IMapFusion::merge	(	SRef< SolAR::datastructure::Map >	map,
		SRef< SolAR::datastructure::Map >	globalMap,
		SolAR::datastructure::Transform3Df &	transform,
		const std::vector< std::pair< uint32_t, uint32_t > > &	cpOverlapIndices,
		bool	isRefineTransform = `false`
	)

pure virtual

Merge a map in the global map. The map can be a local map (know transformation to the global map) or a floating map.

Parameters

[in,out]	map	local map or floating map to merge
[in,out]	globalMap	the global map
[in,out]	transform	the transformation to the global map (null for floating map). It can be refined by fusion process.
[in]	cpOverlapIndices	pairs of detected overlap cloud points indices of floating map and global map.
[in]	isRefineTransform	refine the 3D transformation if it's true.

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

virtual FrameworkReturnCode SolAR::api::solver::map::IMapFusion::merge	(	SRef< SolAR::datastructure::Map >	map,
		SRef< SolAR::datastructure::Map >	globalMap,
		SolAR::datastructure::Transform3Df &	transform,
		uint32_t &	nbMatches,
		float &	error
	)

pure virtual

Merge a map in the global map. The map can be a local map (know transformation to the global map) or a floating map.

Parameters

[in,out]	map	local map or floating map to merge
[in,out]	globalMap	the global map
[in,out]	transform	the transformation to the global map (null for floating map). It can be refined by fusion process.
[out]	nbMatches	the number of matched cloud points.
[out]	error	the error of fusion process that is the mean of error distances of the matched cloud points.

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

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