Finds the 2D-3D correspondences giving a frame and its matches with a second frame which has known 2D-3D correspondences. UUID: 0404e8b9-b824-4852-a34d-6eafa7563918
More...
#include <I2D3DCorrespondencesFinder.h>
Inheritance diagram for SolAR::api::solver::pose::I2D3DCorrespondencesFinder:
Collaboration diagram for SolAR::api::solver::pose::I2D3DCorrespondencesFinder:
Public Member Functions | |
| I2D3DCorrespondencesFinder ()=default | |
| I2D3DCorrespondencesFinder default constructor. | |
| virtual | ~I2D3DCorrespondencesFinder ()=default |
| I2D3DCorrespondencesFinder default destructor. | |
| virtual FrameworkReturnCode | find (const SRef< SolAR::datastructure::Frame > lastFrame, const SRef< SolAR::datastructure::Frame > currentFrame, const std::vector< SolAR::datastructure::DescriptorMatch > ¤t_matches, std::vector< SolAR::datastructure::Point3Df > &shared_3dpoint, std::vector< SolAR::datastructure::Point2Df > &shared_2dpoint, std::vector< std::pair< uint32_t, SRef< SolAR::datastructure::CloudPoint > > > &corres2D3D, std::vector< SolAR::datastructure::DescriptorMatch > &found_matches, std::vector< SolAR::datastructure::DescriptorMatch > &remaining_matches)=0 |
| Define 2D-3D point correspondences of the current frame based on keypoint matches between the current frame and the last frame. More... | |
Detailed Description
Finds the 2D-3D correspondences giving a frame and its matches with a second frame which has known 2D-3D correspondences. UUID: 0404e8b9-b824-4852-a34d-6eafa7563918
Knowing a frame, its reference keyframe which already has 3D correpspondences, as well the 2D matches between them, the component find the 2d-3D correspondences between the current frame and the 3D Points visible from the reference keyframe.
Member Function Documentation
◆ find()
|
pure virtual |
Define 2D-3D point correspondences of the current frame based on keypoint matches between the current frame and the last frame.
- Parameters
-
[in] lastFrame The temporally last frame to the current frame. [in] currentFrame The current framr for which we want to find 2D-3D correspondances. [in] currentMatches The 2D matches between the current keyframe and its reference keyframe. [out] shared_3dpoint The 3D points visible from the current frame. [out] shared_2dpoint The 2D points in the current frame that correspond to 3D points. [out] corres2D3D The pairs of 2D-3D correspondences. The first value is the index of keypoint in the current frame and the second one is the corresponding cloud point. [out] found_matches The matches between the current frame and its reference keyframe which have a 3 correspondant. [out] remaining_matches The matches between the current frame and its reference keyframe for which no 3D points have been found.
- Returns
- FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR
The documentation for this class was generated from the following file:
- interfaces/api/solver/pose/I2D3DCorrespondencesFinder.h
