Solar
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Triangulates a set of corresponding 2D-2D points correspondences with known respective camera poses based on opencv SVD. UUID: 85274ecd-2914-4f12-96de-37c6040633a4
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#include <SolARSVDTriangulationOpencv.h>
Public Member Functions | |
SolARSVDTriangulationOpencv () | |
SolARSVDTriangulationOpencv constructor. | |
~SolARSVDTriangulationOpencv () override | |
SolARSVDTriangulationOpencv destructor. | |
void | setCameraParameters (const datastructure::CamCalibration &intrinsicParams, const datastructure::CamDistortion &distortionParams) override |
this method is used to set intrinsic parameters and distortion of the camera More... | |
float | getReprojectionErrorCloud (const std::vector< SRef< datastructure::CloudPoint > > &original) |
Convert the point cloud to opencv structure for CV processing. More... | |
double | triangulate (const std::vector< datastructure::Point2Df > &pt2d_1, const std::vector< datastructure::Point2Df > &pt2d_2, const std::vector< datastructure::DescriptorMatch > &matches, const std::pair< uint32_t, uint32_t > &working_views, const datastructure::Transform3Df &poseView1, const datastructure::Transform3Df &poseView2, std::vector< SRef< datastructure::CloudPoint > > &pcloud) override |
triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters). More... | |
double | triangulate (const std::vector< datastructure::Keypoint > &keypointsView1, const std::vector< datastructure::Keypoint > &keypointsView2, const std::vector< datastructure::DescriptorMatch > &matches, const std::pair< uint32_t, uint32_t > &working_views, const datastructure::Transform3Df &poseView1, const datastructure::Transform3Df &poseView2, std::vector< SRef< datastructure::CloudPoint > > &pcloud) override |
triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters). More... | |
double | triangulate (const std::vector< datastructure::Keypoint > &keypointsView1, const std::vector< datastructure::Keypoint > &keypointsView2, const SRef< datastructure::DescriptorBuffer > &descriptor1, const SRef< datastructure::DescriptorBuffer > &descriptor2, const std::vector< datastructure::DescriptorMatch > &matches, const std::pair< uint32_t, uint32_t > &working_views, const datastructure::Transform3Df &poseView1, const datastructure::Transform3Df &poseView2, std::vector< SRef< datastructure::CloudPoint > > &pcloud) override |
triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters). More... | |
double | triangulate (SRef< SolAR::datastructure::Frame > frame1, SRef< SolAR::datastructure::Frame > frame2, const std::vector< SolAR::datastructure::DescriptorMatch > &matches, const std::pair< uint32_t, uint32_t > &working_views, std::vector< SRef< SolAR::datastructure::CloudPoint > > &pcloud, const bool &onlyDepth=false) override |
calculating 3D cloud points by triangulating pairs of matched features or using depth information of keypoints. More... | |
void | unloadComponent () override final |
Triangulates a set of corresponding 2D-2D points correspondences with known respective camera poses based on opencv SVD. UUID: 85274ecd-2914-4f12-96de-37c6040633a4
SolAR::api::geom::IProject |
float SolAR::MODULES::OPENCV::SolARSVDTriangulationOpencv::getReprojectionErrorCloud | ( | const std::vector< SRef< datastructure::CloudPoint > > & | original | ) |
Convert the point cloud to opencv structure for CV processing.
[in] | Set | of triangulated 3d_points. |
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override |
this method is used to set intrinsic parameters and distortion of the camera
[in] | Camera | calibration matrix parameters. |
[in] | Camera | distortion parameters. |
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override |
triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters).
[in] | pointsView1,set | of keypoints seen in view_1. |
[in] | pointsView2,set | of keypoints seen in view_2. |
[in] | descriptor1,set | of descriptors in view_1. |
[in] | descriptor2,set | of descriptors in view_2. |
[in] | matches,the | matches between the keypoints of the view1 and the keypoints of the view 2. |
[in] | working_views,a | pair representing the id of the two views |
[in] | poseView1,Camera | pose in the world coordinates system of the view_1 expressed as a Transform3D. |
[in] | poseView2,Camera | pose in the world coordinates system of the view_2 expressed as a Transform3D.. |
[out] | pcloud,Set | of triangulated 3d_points. |
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override |
triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters).
[in] | pointsView1,set | of keypoints seen in view_1. |
[in] | pointsView2,set | of keypoints seen in view_2. |
[in] | matches,the | matches between the keypoints of the view1 and the keypoints of the view 2. |
[in] | working_views,a | pair representing the id of the two views |
[in] | poseView1,Camera | pose in the world coordinates system of the view_1 expressed as a Transform3D. |
[in] | poseView2,Camera | pose in the world coordinates system of the view_2 expressed as a Transform3D.. |
[out] | pcloud,Set | of triangulated 3d_points. |
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override |
triangulate pairs of points 2d captured from two views with differents poses (with respect to the camera instrinsic parameters).
[in] | pointsView1,set | of 2D points seen in view_1. |
[in] | pointsView2,set | of 2D points seen in view_2. |
[in] | matches,the | matches between the keypoints of the view1 and the keypoints of the view 2. |
[in] | working_views,a | pair representing the id of the two views |
[in] | poseView1,camera | pose in the world coordinates system of the view_1 expressed as a Transform3D. |
[in] | poseView2,camera | pose in the world coordinates system of the view_2 expressed as a Transform3D.. |
[out] | pcloud,Set | of triangulated 3d_points. |
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override |
calculating 3D cloud points by triangulating pairs of matched features or using depth information of keypoints.
[in] | frame1 | the first frame. |
[in] | frame2 | the second frame. |
[in] | matches | the matches between these two frames. |
[in] | working_views | a pair representing the id of the two views |
[out] | pcloud | Set of triangulated 3d_points. |
[in] | onlyDepth | if it is true, using only depth information of keypoints for computing 3D cloud points. |