Finds the 3D transform of 3D-3D points correspondences with a SAmple Consensus. UUID: 3b7a1117-8b59-46b1-8e0c-6e76a8377ab4 More...

Inheritance diagram for SolAR::MODULES::TOOLS::SolAR3DTransformEstimationSACFrom3D3D:

Collaboration diagram for SolAR::MODULES::TOOLS::SolAR3DTransformEstimationSACFrom3D3D:

Public Member Functions
	SolAR3DTransformEstimationSACFrom3D3D ()
	SolAR3DTransformEstimationFrom3D3D constructor;.

	~SolAR3DTransformEstimationSACFrom3D3D ()=default
	SolAR3DTransformEstimationFrom3D3D destructor;.

void	setCameraParameters (const SolAR::datastructure::CamCalibration &intrinsicParams, const SolAR::datastructure::CamDistortion &distortionParams) override
	this method is used to set intrinsic parameters and distorsion of the camera More...

FrameworkReturnCode	estimate (const std::vector< SolAR::datastructure::Point3Df > &firstPoints3D, const std::vector< SolAR::datastructure::Point3Df > &secondPoints3D, SolAR::datastructure::Transform3Df &pose, std::vector< int > &inliers) override
	Estimates camera pose from a set of 3D-3D point correspondences. More...

FrameworkReturnCode	estimate (const SRef< SolAR::datastructure::Keyframe > firstKeyframe, const SRef< SolAR::datastructure::Keyframe > secondKeyframe, const std::vector< SolAR::datastructure::DescriptorMatch > &matches, const std::vector< SolAR::datastructure::Point3Df > &firstPoints3D, const std::vector< SolAR::datastructure::Point3Df > &secondPoints3D, SolAR::datastructure::Transform3Df &pose, std::vector< int > &inliers) override
	Estimates camera pose from a set of 3D-3D point correspondences. More...

void	unloadComponent () override final

Detailed Description

Finds the 3D transform of 3D-3D points correspondences with a SAmple Consensus. UUID: 3b7a1117-8b59-46b1-8e0c-6e76a8377ab4

Injectables

SolAR::api::geom::I3DTransform

SolAR::api::geom::IProject

Properties

iterationsCount	number of iterations
	type: int; range : [0..MAX INT]; default: 500
reprojError	inlier threshold value used by the RANSAC procedure. The parameter value is the maximum allowed distance between the observed and computed point projections to consider it an inlier
	type: float; range : [0..MAX FLOAT]; default: 4.f
distanceError	inlier threshold value based on 3d distance error
	type: float; range : [0..MAX FLOAT]; default: 0.1f
confidence	the probability that the algorithm produces a useful result
	type: float; range : [0..1]; default: 0.99f
minNbInliers	the minimum of number of inliers to valid a good pose estimation
	type: int; range : [0..MAX INT]; default: 10

Member Function Documentation

FrameworkReturnCode SolAR::MODULES::TOOLS::SolAR3DTransformEstimationSACFrom3D3D::estimate	(	const SRef< SolAR::datastructure::Keyframe >	firstKeyframe,
		const SRef< SolAR::datastructure::Keyframe >	secondKeyframe,
		const std::vector< SolAR::datastructure::DescriptorMatch > &	matches,
		const std::vector< SolAR::datastructure::Point3Df > &	firstPoints3D,
		const std::vector< SolAR::datastructure::Point3Df > &	secondPoints3D,
		SolAR::datastructure::Transform3Df &	pose,
		std::vector< int > &	inliers
	)

override

Estimates camera pose from a set of 3D-3D point correspondences.

Parameters

[in]	firstKeyframe	first keyframe.
[in]	secondKeyframe	second keyframe.
[in]	matches	matches between two keyframes.
[in]	firstPoints3D	first set of 3D points.
[in]	secondPoints3D	second set of 3D points.
[out]	pose	3D transformation maps the first set of 3D points to the second one.
[out]	inliers	indices of inlier correspondences.

FrameworkReturnCode SolAR::MODULES::TOOLS::SolAR3DTransformEstimationSACFrom3D3D::estimate	(	const std::vector< SolAR::datastructure::Point3Df > &	firstPoints3D,
		const std::vector< SolAR::datastructure::Point3Df > &	secondPoints3D,
		SolAR::datastructure::Transform3Df &	pose,
		std::vector< int > &	inliers
	)

override

Estimates camera pose from a set of 3D-3D point correspondences.

Parameters

[in]	firstPoints3D	first set of 3D points.
[in]	secondPoints3D	second set of 3D points.
[out]	pose	3D transformation maps the first set of 3D points to the second one.
[out]	inliers	indices of inlier correspondences.

void SolAR::MODULES::TOOLS::SolAR3DTransformEstimationSACFrom3D3D::setCameraParameters	(	const SolAR::datastructure::CamCalibration &	intrinsicParams,
		const SolAR::datastructure::CamDistortion &	distortionParams
	)

override

this method is used to set intrinsic parameters and distorsion of the camera

Parameters

[in]	intrinsicParams	Camera calibration matrix parameters.
[in]	distortionParams	Camera distortion parameters.

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