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SolAR::api::solver::pose::I3DTransformSACFinderFrom3D3D Class Referenceabstract

Finds the 3D transform of 3D-3D points correspondences with a SAmple Consensus. UUID: 940bddba-da70-4a6e-a327-890c1e61386d More...

#include <I3DTransformSACFinderFrom3D3D.h>

Inheritance diagram for SolAR::api::solver::pose::I3DTransformSACFinderFrom3D3D:
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Public Member Functions

 I3DTransformSACFinderFrom3D3D ()=default
 I3DTransformSACFinderFrom3D3D default constructor.
 
virtual ~I3DTransformSACFinderFrom3D3D ()=default
 I3DTransformSACFinderFrom3D3D default destructor.
 
virtual void setCameraParameters (const SolAR::datastructure::CamCalibration &intrinsicParams, const SolAR::datastructure::CamDistortion &distortionParams)=0
 this method is used to set intrinsic parameters and distorsion of the camera More...
 
virtual FrameworkReturnCode estimate (const std::vector< SolAR::datastructure::Point3Df > &firstPoints3D, const std::vector< SolAR::datastructure::Point3Df > &secondPoints3D, SolAR::datastructure::Transform3Df &pose, std::vector< int > &inliers)=0
 Estimates camera pose from a set of 3D-3D point correspondences. More...
 
virtual FrameworkReturnCode estimate (const SRef< SolAR::datastructure::Keyframe > firstKeyframe, const SRef< SolAR::datastructure::Keyframe > secondKeyframe, const std::vector< SolAR::datastructure::DescriptorMatch > &matches, const std::vector< SolAR::datastructure::Point3Df > &firstPoints3D, const std::vector< SolAR::datastructure::Point3Df > &secondPoints3D, SolAR::datastructure::Transform3Df &pose, std::vector< int > &inliers)=0
 Estimates camera pose from a set of 3D-3D point correspondences. More...
 

Detailed Description

Finds the 3D transform of 3D-3D points correspondences with a SAmple Consensus. UUID: 940bddba-da70-4a6e-a327-890c1e61386d

Member Function Documentation

◆ estimate() [1/2]

virtual FrameworkReturnCode SolAR::api::solver::pose::I3DTransformSACFinderFrom3D3D::estimate ( const SRef< SolAR::datastructure::Keyframe firstKeyframe,
const SRef< SolAR::datastructure::Keyframe secondKeyframe,
const std::vector< SolAR::datastructure::DescriptorMatch > &  matches,
const std::vector< SolAR::datastructure::Point3Df > &  firstPoints3D,
const std::vector< SolAR::datastructure::Point3Df > &  secondPoints3D,
SolAR::datastructure::Transform3Df pose,
std::vector< int > &  inliers 
)
pure virtual

Estimates camera pose from a set of 3D-3D point correspondences.

Parameters
[in]firstKeyframefirst keyframe.
[in]secondKeyframesecond keyframe.
[in]matchesmatches between two keyframes.
[in]firstPoints3Dfirst set of 3D points.
[in]secondPoints3Dsecond set of 3D points.
[out]pose3D transformation maps the first set of 3D points to the second one.
[out]inliersindices of inlier correspondences.
Returns
FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR

◆ estimate() [2/2]

virtual FrameworkReturnCode SolAR::api::solver::pose::I3DTransformSACFinderFrom3D3D::estimate ( const std::vector< SolAR::datastructure::Point3Df > &  firstPoints3D,
const std::vector< SolAR::datastructure::Point3Df > &  secondPoints3D,
SolAR::datastructure::Transform3Df pose,
std::vector< int > &  inliers 
)
pure virtual

Estimates camera pose from a set of 3D-3D point correspondences.

Parameters
[in]firstPoints3Dfirst set of 3D points.
[in]secondPoints3Dsecond set of 3D points.
[out]pose3D transformation maps the first set of 3D points to the second one.
[out]inliersindices of inlier correspondences.

◆ setCameraParameters()

virtual void SolAR::api::solver::pose::I3DTransformSACFinderFrom3D3D::setCameraParameters ( const SolAR::datastructure::CamCalibration intrinsicParams,
const SolAR::datastructure::CamDistortion distortionParams 
)
pure virtual

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

Parameters
[in]intrinsicParamsCamera calibration matrix parameters.
[in]distortionParamsCamera distortion parameters.

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