Finds the 3D transform of 2D-3D points correspondences with a SAmple Consensus. UUID: 8dd889c5-e8e6-4b3b-92e4-34cf7442f272 More...

Inheritance diagram for SolAR::api::solver::pose::I3DTransformSACFinderFrom2D3D:

Collaboration diagram for SolAR::api::solver::pose::I3DTransformSACFinderFrom2D3D:

Public Member Functions
	I3DTransformSACFinderFrom2D3D ()=default
	I3DTransformSACFinderFrom2D3D default constructor.

virtual	~I3DTransformSACFinderFrom2D3D ()=default
	I3DTransformSACFinderFrom2D3D 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 > &imagePoints, const std::vector< SolAR::datastructure::Point3Df > &worldPoints, std::vector< uint32_t > &inliers, SolAR::datastructure::Transform3Df &pose, const SolAR::datastructure::Transform3Df initialPose=SolAR::datastructure::Transform3Df::Identity())=0
	Estimates camera pose from a set of 2D image points of their corresponding 3D world points. More...

Detailed Description

Finds the 3D transform of 2D-3D points correspondences with a SAmple Consensus. UUID: 8dd889c5-e8e6-4b3b-92e4-34cf7442f272

Member Function Documentation

virtual FrameworkReturnCode SolAR::api::solver::pose::I3DTransformSACFinderFrom2D3D::estimate	(	const std::vector< SolAR::datastructure::Point2Df > &	imagePoints,
		const std::vector< SolAR::datastructure::Point3Df > &	worldPoints,
		std::vector< uint32_t > &	inliers,
		SolAR::datastructure::Transform3Df &	pose,
		const SolAR::datastructure::Transform3Df	initialPose = `SolAR::datastructure::Transform3Df::Identity()`
	)

pure virtual

Estimates camera pose from a set of 2D image points of their corresponding 3D world points.

Parameters

[in]	imagePoints	set of 2d_points seen in view_1.
[in]	worldPoints	set of 3d_points corresponding to view_1.
[out]	inliers	indices of inlier correspondences.
[out]	pose	camera pose (pose of the camera defined in world corrdinate 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

virtual void SolAR::api::solver::pose::I3DTransformSACFinderFrom2D3D::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]	intrinsicParams	camera distorsion parameters.

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