Finds the 3D correspondents of 2D keypoints. UUID: cedd8c47-e7b0-47bf-abb1-7fb54d198117 More...

Inheritance diagram for SolAR::MODULES::OPENCV::SolAR2D3DCorrespondencesFinderOpencv:

Collaboration diagram for SolAR::MODULES::OPENCV::SolAR2D3DCorrespondencesFinderOpencv:

Public Member Functions
	SolAR2D3DCorrespondencesFinderOpencv ()
	SolARPoseEstimationPnpOpencv constructor;.

	~SolAR2D3DCorrespondencesFinderOpencv () override=default
	SolARPoseEstimationPnpOpencv destructor;.

FrameworkReturnCode	find (const SRef< datastructure::Frame > lastFrame, const SRef< datastructure::Frame > currentFrame, const std::vector< datastructure::DescriptorMatch > &current_matches, std::vector< datastructure::Point3Df > &shared_3dpoint, std::vector< datastructure::Point2Df > &shared_2dpoint, std::vector< std::pair< uint32_t, SRef< datastructure::CloudPoint > > > &corres2D3D, std::vector< datastructure::DescriptorMatch > &found_matches, std::vector< datastructure::DescriptorMatch > &remaining_matches) override
	Define 2D-3D point correspondences of the current frame based on keypoint matches between the current frame and the last frame. More...

void	unloadComponent () override final

Detailed Description

Finds the 3D correspondents of 2D keypoints. UUID: cedd8c47-e7b0-47bf-abb1-7fb54d198117

Injectables

SolAR::api::storage::IPointCloudManager

Member Function Documentation

FrameworkReturnCode SolAR::MODULES::OPENCV::SolAR2D3DCorrespondencesFinderOpencv::find	(	const SRef< datastructure::Frame >	lastFrame,
		const SRef< datastructure::Frame >	currentFrame,
		const std::vector< datastructure::DescriptorMatch > &	current_matches,
		std::vector< datastructure::Point3Df > &	shared_3dpoint,
		std::vector< datastructure::Point2Df > &	shared_2dpoint,
		std::vector< std::pair< uint32_t, SRef< datastructure::CloudPoint > > > &	corres2D3D,
		std::vector< datastructure::DescriptorMatch > &	found_matches,
		std::vector< datastructure::DescriptorMatch > &	remaining_matches
	)

override

Define 2D-3D point correspondences of the current frame based on keypoint matches between the current frame and the last frame.

Parameters

[in]	lastFrame	The temporally last frame to the current frame.
[in]	currentFrame	The current framr for which we want to find 2D-3D correspondances.
[in]	currentMatches	The 2D matches between the current keyframe and its reference keyframe.
[out]	shared_3dpoint	The 3D points visible from the current frame.
[out]	shared_2dpoint	The 2D points in the current frame that correspond to 3D points.
[out]	corres2D3D	The pairs of 2D-3D correspondences. The first value is the index of keypoint in the current frame and the second one is the corresponding cloud point.
[out]	found_matches	The matches between the current frame and its reference keyframe which have a 3 correspondant.
[out]	remaining_matches	The matches between the current frame and its reference keyframe for which no 3D points have been found.

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