Solar
Public Member Functions | List of all members
SolAR::api::solver::pose::I3D3DCorrespondencesFinder Class Referenceabstract

Finds the 3D-3D correspondences from feature matches of two keyframes. UUID: 90068876-655a-4d86-adfc-96a519041ab3 More...

#include <I3D3DCorrespondencesFinder.h>

Inheritance diagram for SolAR::api::solver::pose::I3D3DCorrespondencesFinder:
Inheritance graph
[legend]
Collaboration diagram for SolAR::api::solver::pose::I3D3DCorrespondencesFinder:
Collaboration graph
[legend]

Public Member Functions

 I3D3DCorrespondencesFinder ()=default
 I3D3DCorrespondencesFinder default constructor.
 
virtual ~I3D3DCorrespondencesFinder ()=default
 IFundamentalMatrixDecomposer default destructor.
 
virtual FrameworkReturnCode find (const SRef< SolAR::datastructure::Keyframe > firstKeyframe, const SRef< SolAR::datastructure::Keyframe > secondKeyframe, const std::vector< SolAR::datastructure::DescriptorMatch > &current_matches, std::vector< SRef< SolAR::datastructure::CloudPoint > > &firstCloudPoints, std::vector< SRef< SolAR::datastructure::CloudPoint > > &secondCloudPoints, std::vector< SolAR::datastructure::DescriptorMatch > &found_matches, std::vector< SolAR::datastructure::DescriptorMatch > &remaining_matches)=0
 Define 3D-3D point correspondences of two keyframes based on keypoint matches. More...
 
virtual FrameworkReturnCode find (const SRef< SolAR::datastructure::Keyframe > firstKeyframe, const SRef< SolAR::datastructure::Keyframe > secondKeyframe, const std::vector< SolAR::datastructure::DescriptorMatch > &current_matches, std::vector< uint32_t > &firstCloudPointsIndices, std::vector< uint32_t > &secondCloudPointsIndices, std::vector< SolAR::datastructure::DescriptorMatch > &found_matches)=0
 Define 3D-3D point correspondences of two keyframes based on keypoint matches between different maps. More...
 

Detailed Description

Finds the 3D-3D correspondences from feature matches of two keyframes. UUID: 90068876-655a-4d86-adfc-96a519041ab3

Member Function Documentation

◆ find() [1/2]

virtual FrameworkReturnCode SolAR::api::solver::pose::I3D3DCorrespondencesFinder::find ( const SRef< SolAR::datastructure::Keyframe firstKeyframe,
const SRef< SolAR::datastructure::Keyframe secondKeyframe,
const std::vector< SolAR::datastructure::DescriptorMatch > &  current_matches,
std::vector< SRef< SolAR::datastructure::CloudPoint > > &  firstCloudPoints,
std::vector< SRef< SolAR::datastructure::CloudPoint > > &  secondCloudPoints,
std::vector< SolAR::datastructure::DescriptorMatch > &  found_matches,
std::vector< SolAR::datastructure::DescriptorMatch > &  remaining_matches 
)
pure virtual

Define 3D-3D point correspondences of two keyframes based on keypoint matches.

Parameters
[in]firstKeyframeThe first keyframe.
[in]secondKeyframeThe second keyframe.
[in]currentMatchesThe 2D matches between the current keyframe and its reference keyframe.
[out]firstCloudPointsThe cloud points seen from the first keyframe.
[out]secondCloudPointsThe cloud points seen from the second keyframe.
[out]found_matchesThe matches allow to define 3D-3D correspondences.
[out]remaining_matchesThe remaining matches.
Returns
FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ find() [2/2]

virtual FrameworkReturnCode SolAR::api::solver::pose::I3D3DCorrespondencesFinder::find ( const SRef< SolAR::datastructure::Keyframe firstKeyframe,
const SRef< SolAR::datastructure::Keyframe secondKeyframe,
const std::vector< SolAR::datastructure::DescriptorMatch > &  current_matches,
std::vector< uint32_t > &  firstCloudPointsIndices,
std::vector< uint32_t > &  secondCloudPointsIndices,
std::vector< SolAR::datastructure::DescriptorMatch > &  found_matches 
)
pure virtual

Define 3D-3D point correspondences of two keyframes based on keypoint matches between different maps.

Parameters
[in]firstKeyframeThe first keyframe.
[in]secondKeyframeThe second keyframe.
[in]currentMatchesThe 2D matches between the current keyframe and its reference keyframe.
[out]firstCloudPointsIndicesThe cloud points indices seen from the first keyframe.
[out]secondCloudPointsIndicesThe cloud points indices seen from the second keyframe.
[out]found_matchesThe matches allow to define 3D-3D correspondences.

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