Finds the 3D transform of a depth sensor from a point cloud captured by this sensor and a point cloud representing a geometric knowledge of the real world. More...
#include <I3DTransformFinderFrom3D3D.h>
Inheritance diagram for SolAR::api::solver::pose::I3DTransformFinderFrom3D3D:
Collaboration diagram for SolAR::api::solver::pose::I3DTransformFinderFrom3D3D:
Public Member Functions | |
| I3DTransformFinderFrom3D3D ()=default | |
| I3DTransformFinderFrom3D3D default constructor. | |
| virtual | ~I3DTransformFinderFrom3D3D ()=default |
| I3DTransformFinderFrom3D3D default destructor. | |
| virtual FrameworkReturnCode | estimate (const SRef< SolAR::datastructure::PointCloud > sourcePointCloud, const SRef< SolAR::datastructure::PointCloud > targetPointCloud, SolAR::datastructure::Transform3Df &pose, const SolAR::datastructure::Transform3Df &initialPose=SolAR::datastructure::Transform3Df::Identity())=0 |
| Estimates depth sensor pose from a set of 3D points captured by the depth sensor and defined in the depth sensor coordinate and a point cloud representing the real world geometry. More... | |
Detailed Description
Finds the 3D transform of a depth sensor from a point cloud captured by this sensor and a point cloud representing a geometric knowledge of the real world.
Member Function Documentation
◆ estimate()
|
pure virtual |
Estimates depth sensor pose from a set of 3D points captured by the depth sensor and defined in the depth sensor coordinate and a point cloud representing the real world geometry.
- Parameters
-
[in] sourcePointCloud a point cloud captured by the depth sensor defined in the depth sensor coordinate system. [in] targetPointCloud a point cloud representing the geometry of the real world. [out] pose depth camera pose (pose of the depth camera defined in world coordinate system) expressed as a Transform3D. [in] initialPose (Optional) a transform3D to initialize the pose (reducing the convergence time and improving its success).
- Returns
- FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR
The documentation for this class was generated from the following file:
- interfaces/api/solver/pose/I3DTransformFinderFrom3D3D.h
