Finds the 3D transform between two cameras knowing the keypoints that match between them. UUID: 6063a606-9d30-11e8-98d0-529269fb1459 More...

Inheritance diagram for SolAR::api::solver::pose::I3DTransformFinderFrom2D2D:

Collaboration diagram for SolAR::api::solver::pose::I3DTransformFinderFrom2D2D:

Public Member Functions
	I3DTransformFinderFrom2D2D ()=default
	I3DTransformFinderFrom2D2D default constructor.

virtual	~I3DTransformFinderFrom2D2D ()=default
	I3DTransformFinderFrom2D2D 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 FrameworkReturnCode	estimate (const std::vector< SolAR::datastructure::Point2Df > &pointsView1, const std::vector< SolAR::datastructure::Point2Df > &pointsView2, const SolAR::datastructure::Transform3Df &poseView1, SolAR::datastructure::Transform3Df &poseView2, std::vector< SolAR::datastructure::DescriptorMatch > &inlierMatches)=0
	Estimates camera pose from a set of 2D points of the first image which match with a set of 2D points of the second image. More...

virtual FrameworkReturnCode	estimate (const std::vector< SolAR::datastructure::Keypoint > &pointsView1, const std::vector< SolAR::datastructure::Keypoint > &pointsView2, const SolAR::datastructure::Transform3Df &poseView1, SolAR::datastructure::Transform3Df &poseView2, std::vector< SolAR::datastructure::DescriptorMatch > &inlierMatches)=0
	Estimates camera pose from a set of keypoints of the first image which match with a set of keypoints of the second image. More...

Detailed Description

Finds the 3D transform between two cameras knowing the keypoints that match between them. UUID: 6063a606-9d30-11e8-98d0-529269fb1459

Member Function Documentation

virtual FrameworkReturnCode SolAR::api::solver::pose::I3DTransformFinderFrom2D2D::estimate	(	const std::vector< SolAR::datastructure::Keypoint > &	pointsView1,
		const std::vector< SolAR::datastructure::Keypoint > &	pointsView2,
		const SolAR::datastructure::Transform3Df &	poseView1,
		SolAR::datastructure::Transform3Df &	poseView2,
		std::vector< SolAR::datastructure::DescriptorMatch > &	inlierMatches
	)

pure virtual

Estimates camera pose from a set of keypoints of the first image which match with a set of keypoints of the second image.

Parameters

[in]	pointsView1	Set of keypoints seen in view 1.
[in]	pointsView2	Set of keypoints seen in view 2 and matching with the 2D points of the view 1.
[in]	poseView1	Camera pose (3D transform of the camera of the view1 defined in world corrdinate system).
[out]	poseView2	Camera pose (3D transform of the camera of the view2 defined in world corrdinate system).
[in,out]	inlierMatches	a vector of matches that will be used for the pose estimation. This vector wll be updates as some input matches will be considered as outliers. If this vector is empty, we consider that the ith point of pointsView1 matches with the ith point of pointsView2.

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

virtual FrameworkReturnCode SolAR::api::solver::pose::I3DTransformFinderFrom2D2D::estimate	(	const std::vector< SolAR::datastructure::Point2Df > &	pointsView1,
		const std::vector< SolAR::datastructure::Point2Df > &	pointsView2,
		const SolAR::datastructure::Transform3Df &	poseView1,
		SolAR::datastructure::Transform3Df &	poseView2,
		std::vector< SolAR::datastructure::DescriptorMatch > &	inlierMatches
	)

pure virtual

Estimates camera pose from a set of 2D points of the first image which match with a set of 2D points of the second image.

Parameters

[in]	pointsView1	Set of 2D points seen in view 1.
[in]	pointsView2	Set of 2D points seen in view 2 and matching with the 2D points of the view 1.
[in]	poseView1	Camera pose (3D transform of the camera of the view1 defined in world corrdinate system).
[out]	poseView2	Camera pose (3D transform of the camera of the view2 defined in world corrdinate system).
[in,out]	inlierMatches	a vector of matches that will be used for the pose estimation. This vector wll be updates as some input matches will be considered as outliers. If this vector is empty, we consider that the ith point of pointsView1 matches with the ith point of pointsView2.

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

virtual void SolAR::api::solver::pose::I3DTransformFinderFrom2D2D::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]	intrinsicParams	camera calibration matrix parameters.
[in]	distorsionParams	camera distorsion parameters.

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