Merge local map or floating map in the global map. UUID: bc661909-0185-40a4-a5e6-e52280e7b338 More...

Inheritance diagram for SolAR::MODULES::OPENCV::SolARMapFusionOpencv:

Collaboration diagram for SolAR::MODULES::OPENCV::SolARMapFusionOpencv:

Public Member Functions
	SolARMapFusionOpencv ()
	SolARMapFusionOpencv constructor.

	~SolARMapFusionOpencv () override
	SolARMapFusionOpencv destructor.

FrameworkReturnCode	merge (SRef< datastructure::Map > map, SRef< datastructure::Map > globalMap, datastructure::Transform3Df &transform, uint32_t &nbMatches, float &error) override
	Merge a map in the global map. The map can be a local map (know transformation to the global map) or a floating map. More...

FrameworkReturnCode	merge (SRef< datastructure::Map > map, SRef< datastructure::Map > globalMap, datastructure::Transform3Df &transform, const std::vector< std::pair< uint32_t, uint32_t > > &cpOverlapIndices, bool isRefineTransform=false) override
	Merge a map in the global map. The map can be a local map (know transformation to the global map) or a floating map. More...

void	unloadComponent () override final

Detailed Description

Merge local map or floating map in the global map. UUID: bc661909-0185-40a4-a5e6-e52280e7b338

Injectables

SolAR::api::geom::I3DTransform

SolAR::api::features::IDescriptorMatcher

SolAR::api::solver::pose::I3DTransformSACFinderFrom3D3D

Properties

radius
	type: float; range : [0..MAX FLOAT]; default: 0.3f

Member Function Documentation

FrameworkReturnCode SolAR::MODULES::OPENCV::SolARMapFusionOpencv::merge	(	SRef< datastructure::Map >	map,
		SRef< datastructure::Map >	globalMap,
		datastructure::Transform3Df &	transform,
		const std::vector< std::pair< uint32_t, uint32_t > > &	cpOverlapIndices,
		bool	isRefineTransform = `false`
	)

override

Merge a map in the global map. The map can be a local map (know transformation to the global map) or a floating map.

Parameters

[in,out]	map	local map or floating map to merge
[in,out]	globalMap	the global map
[in,out]	transform	the transformation to the global map (null for floating map). It can be refined by fusion process.
[in]	cpOverlapIndices	pairs of detected overlap cloud points indices of floating map and global map.
[in]	isRefineTransform	refine the 3D transformation if it's true.

Returns: FrameworkReturnCode::SUCCESS if the fusion succeed, else FrameworkReturnCode::_ERROR.

FrameworkReturnCode SolAR::MODULES::OPENCV::SolARMapFusionOpencv::merge	(	SRef< datastructure::Map >	map,
		SRef< datastructure::Map >	globalMap,
		datastructure::Transform3Df &	transform,
		uint32_t &	nbMatches,
		float &	error
	)

override

Merge a map in the global map. The map can be a local map (know transformation to the global map) or a floating map.

Parameters

[in,out]	map	local map or floating map to merge
[in,out]	globalMap	the global map
[in,out]	transform	the transformation to the global map (null for floating map). It can be refined by fusion process.
[out]	nbMatches	the number of matched cloud points.
[out]	error	the error of fusion process that is the mean of error distances of the matched cloud points.

Returns: FrameworkReturnCode::SUCCESS if the fusion succeed, else FrameworkReturnCode::_ERROR.

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