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SolAR::MODULES::TOOLS::SolAR3D3DCorrespondencesFinder Class Reference

Finds the 3D-3D correspondences from feature matches of two keyframes. UUID: 978068ef-7f93-41ef-8e24-13419776d9c6 More...

#include <SolAR3D3DcorrespondencesFinder.h>

Inheritance diagram for SolAR::MODULES::TOOLS::SolAR3D3DCorrespondencesFinder:
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Collaboration diagram for SolAR::MODULES::TOOLS::SolAR3D3DCorrespondencesFinder:
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Public Member Functions

 SolAR3D3DCorrespondencesFinder ()
 SolAR3D3DCorrespondencesFinder constructor;.
 
 ~SolAR3D3DCorrespondencesFinder () override=default
 SolAR3D3DCorrespondencesFinder destructor;.
 
FrameworkReturnCode find (const SRef< SolAR::datastructure::Keyframe > firstKeyframe, const SRef< SolAR::datastructure::Keyframe > secondKeyframe, const std::vector< SolAR::datastructure::DescriptorMatch > &current_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...
 
FrameworkReturnCode find (const SRef< SolAR::datastructure::Keyframe > firstKeyframe, const SRef< SolAR::datastructure::Keyframe > secondKeyframe, const std::vector< SolAR::datastructure::DescriptorMatch > &current_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...
 
void unloadComponent () override final
 

Detailed Description

Finds the 3D-3D correspondences from feature matches of two keyframes. UUID: 978068ef-7f93-41ef-8e24-13419776d9c6

Injectables
SolAR::api::storage::IPointCloudManager

Member Function Documentation

◆ find() [1/2]

FrameworkReturnCode SolAR::MODULES::TOOLS::SolAR3D3DCorrespondencesFinder::find ( const SRef< SolAR::datastructure::Keyframe >  firstKeyframe,
const SRef< SolAR::datastructure::Keyframe >  secondKeyframe,
const std::vector< SolAR::datastructure::DescriptorMatch > &  current_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.

Parameters
[in]firstKeyframeThe first keyframe.
[in]secondKeyframeThe second keyframe.
[in]currentMatchesThe 2D matches between the current keyframe and its reference keyframe.
[out]firstCloudPointsThe cloud points seen from the first keyframe.
[out]secondCloudPointsThe cloud points seen from the second keyframe.
[out]found_matchesThe matches allow to define 3D-3D correspondences.
[out]remaining_matchesThe remaining matches.

◆ find() [2/2]

FrameworkReturnCode SolAR::MODULES::TOOLS::SolAR3D3DCorrespondencesFinder::find ( const SRef< SolAR::datastructure::Keyframe >  firstKeyframe,
const SRef< SolAR::datastructure::Keyframe >  secondKeyframe,
const std::vector< SolAR::datastructure::DescriptorMatch > &  current_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.

Parameters
[in]firstKeyframeThe first keyframe.
[in]secondKeyframeThe second keyframe.
[in]currentMatchesThe 2D matches between the current keyframe and its reference keyframe.
[out]firstCloudPointsIndicesThe cloud points indices seen from the first keyframe.
[out]secondCloudPointsIndicesThe cloud points indices seen from the second keyframe.
[out]found_matchesThe matches allow to define 3D-3D correspondences.

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