Finds the 3D-3D correspondences from feature matches of two keyframes. UUID: 978068ef-7f93-41ef-8e24-13419776d9c6
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#include <SolAR3D3DcorrespondencesFinder.h>
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| SolAR3D3DCorrespondencesFinder () |
| SolAR3D3DCorrespondencesFinder constructor;.
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| ~SolAR3D3DCorrespondencesFinder () override=default |
| SolAR3D3DCorrespondencesFinder destructor;.
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FrameworkReturnCode | find (const SRef< SolAR::datastructure::Keyframe > firstKeyframe, const SRef< SolAR::datastructure::Keyframe > secondKeyframe, const std::vector< SolAR::datastructure::DescriptorMatch > ¤t_matches, std::vector< SRef< SolAR::datastructure::CloudPoint > > &firstCloudPoints, std::vector< SRef< SolAR::datastructure::CloudPoint > > &secondCloudPoints, std::vector< SolAR::datastructure::DescriptorMatch > &found_matches, std::vector< SolAR::datastructure::DescriptorMatch > &remaining_matches) override |
| Define 3D-3D point correspondences of two keyframes based on keypoint matches. More...
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FrameworkReturnCode | find (const SRef< SolAR::datastructure::Keyframe > firstKeyframe, const SRef< SolAR::datastructure::Keyframe > secondKeyframe, const std::vector< SolAR::datastructure::DescriptorMatch > ¤t_matches, std::vector< uint32_t > &firstCloudPointsIndices, std::vector< uint32_t > &secondCloudPointsIndices, std::vector< SolAR::datastructure::DescriptorMatch > &found_matches) override |
| Define 3D-3D point correspondences of two keyframes based on keypoint matches between different maps. More...
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void | unloadComponent () override final |
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Finds the 3D-3D correspondences from feature matches of two keyframes. UUID: 978068ef-7f93-41ef-8e24-13419776d9c6
- Injectables
SolAR::api::storage::IPointCloudManager |
◆ find() [1/2]
FrameworkReturnCode SolAR::MODULES::TOOLS::SolAR3D3DCorrespondencesFinder::find |
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const SRef< SolAR::datastructure::Keyframe > |
firstKeyframe, |
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const SRef< SolAR::datastructure::Keyframe > |
secondKeyframe, |
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const std::vector< SolAR::datastructure::DescriptorMatch > & |
current_matches, |
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std::vector< SRef< SolAR::datastructure::CloudPoint > > & |
firstCloudPoints, |
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std::vector< SRef< SolAR::datastructure::CloudPoint > > & |
secondCloudPoints, |
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std::vector< SolAR::datastructure::DescriptorMatch > & |
found_matches, |
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std::vector< SolAR::datastructure::DescriptorMatch > & |
remaining_matches |
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override |
Define 3D-3D point correspondences of two keyframes based on keypoint matches.
- Parameters
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[in] | firstKeyframe | The first keyframe. |
[in] | secondKeyframe | The second keyframe. |
[in] | currentMatches | The 2D matches between the current keyframe and its reference keyframe. |
[out] | firstCloudPoints | The cloud points seen from the first keyframe. |
[out] | secondCloudPoints | The cloud points seen from the second keyframe. |
[out] | found_matches | The matches allow to define 3D-3D correspondences. |
[out] | remaining_matches | The remaining matches. |
◆ find() [2/2]
FrameworkReturnCode SolAR::MODULES::TOOLS::SolAR3D3DCorrespondencesFinder::find |
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const SRef< SolAR::datastructure::Keyframe > |
firstKeyframe, |
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const SRef< SolAR::datastructure::Keyframe > |
secondKeyframe, |
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const std::vector< SolAR::datastructure::DescriptorMatch > & |
current_matches, |
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std::vector< uint32_t > & |
firstCloudPointsIndices, |
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std::vector< uint32_t > & |
secondCloudPointsIndices, |
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std::vector< SolAR::datastructure::DescriptorMatch > & |
found_matches |
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) |
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override |
Define 3D-3D point correspondences of two keyframes based on keypoint matches between different maps.
- Parameters
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[in] | firstKeyframe | The first keyframe. |
[in] | secondKeyframe | The second keyframe. |
[in] | currentMatches | The 2D matches between the current keyframe and its reference keyframe. |
[out] | firstCloudPointsIndices | The cloud points indices seen from the first keyframe. |
[out] | secondCloudPointsIndices | The cloud points indices seen from the second keyframe. |
[out] | found_matches | The matches allow to define 3D-3D correspondences. |
The documentation for this class was generated from the following file: