SolAR::api::solver::pose::I2Dto3DTransformDecomposer Class Reference

Decomposes 2D transform (ex Fundamental matrix) to 3D transform (ex camera pose). UUID: 0404e8b9-b824-4852-a34d-6eafa7563918 More...

#include <I2Dto3DTransformDecomposer.h>

Inheritance diagram for SolAR::api::solver::pose::I2Dto3DTransformDecomposer:

Collaboration diagram for SolAR::api::solver::pose::I2Dto3DTransformDecomposer:

Public Member Functions
	I2Dto3DTransformDecomposer ()=default
	I2Dto3DTransformDecomposer default constructor.
virtual	~I2Dto3DTransformDecomposer ()=default
	I2Dto3DTransformDecomposer default destructor.
virtual void	setCameraParameters (const SolAR::datastructure::CamCalibration &intrinsicParams, const SolAR::datastructure::CamDistortion &distorsionParams)=0
	this method is used to set intrinsic parameters and distorsion of the camera More...
virtual bool	decompose (const SolAR::datastructure::Transform2Df &F, std::vector< SolAR::datastructure::Transform3Df > &decomposedPoses)=0
	decompose a transform 2d to a transform 3d (4 possible poses {R1,t1},{R1,t2}, {R2,t1}, {R2,t2}). More...

Detailed Description

Decomposes 2D transform (ex Fundamental matrix) to 3D transform (ex camera pose). 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

decompose()

virtual bool SolAR::api::solver::pose::I2Dto3DTransformDecomposer::decompose ( const SolAR::datastructure::Transform2Df &  F, std::vector< SolAR::datastructure::Transform3Df > &  decomposedPoses  )

pure virtual

decompose a transform 2d to a transform 3d (4 possible poses {R1,t1},{R1,t2}, {R2,t1}, {R2,t2}).

Parameters

[in]	Transform	2D (fundamental matrxi, homgraphy..).
[out]	Set	(04 possibles cases) of the decomposed camera poses in the world coordinate system expressed as Transform3D.

Returns

true if succeed, else false

setCameraParameters()

virtual void SolAR::api::solver::pose::I2Dto3DTransformDecomposer::setCameraParameters ( const SolAR::datastructure::CamCalibration &  intrinsicParams, const SolAR::datastructure::CamDistortion &  distorsionParams  )

pure virtual

this method is used to set intrinsic parameters and distorsion of the camera

Parameters

[in]	Camera	calibration matrix parameters.
[in]	Camera	distorsion parameters.

---

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

• interfaces/api/solver/pose/I2Dto3DTransformDecomposer.h