Detect a loop closure from a given keyframe. UUID: e3d5946c-c1f1-11ea-b3de-0242ac130004
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#include <SolARLoopClosureDetector.h>
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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...
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FrameworkReturnCode | detect (const SRef< SolAR::datastructure::Keyframe > queryKeyframe, SRef< SolAR::datastructure::Keyframe > &detectedLoopKeyframe, SolAR::datastructure::Transform3Df &sim3Transform, std::vector< std::pair< uint32_t, uint32_t > > &duplicatedPointsIndices) const override |
| Detect a loop closure from a given keyframe. More...
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void | unloadComponent () override final |
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Detect a loop closure from a given keyframe. UUID: e3d5946c-c1f1-11ea-b3de-0242ac130004
- Injectables
SolAR::api::storage::IKeyframesManager |
SolAR::api::storage::ICovisibilityGraph |
SolAR::api::reloc::IKeyframeRetriever |
SolAR::api::solver::pose::I3DTransformSACFinderFrom3D3D |
SolAR::api::features::IDescriptorMatcher |
SolAR::api::features::IMatchesFilter |
SolAR::api::solver::pose::I3D3DCorrespondencesFinder |
SolAR::api::geom::I3DTransform |
- Properties
minNbInliers | |
type: int; range : [0..MAX INT]; default: 0 |
◆ detect()
FrameworkReturnCode SolAR::MODULES::TOOLS::SolARLoopClosureDetector::detect |
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const SRef< SolAR::datastructure::Keyframe > |
queryKeyframe, |
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SRef< SolAR::datastructure::Keyframe > & |
detectedLoopKeyframe, |
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SolAR::datastructure::Transform3Df & |
sim3Transform, |
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std::vector< std::pair< uint32_t, uint32_t > > & |
duplicatedPointsIndices |
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override |
Detect a loop closure from a given keyframe.
- Parameters
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[in] | queryKeyframe | the query keyframe. |
[out] | detectedLoopKeyframe | the detected loop keyframe.
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[out] | sim3Transform | : 3D similarity transformation (Sim(3)) from query keyframe to the detected loop keyframe. |
[out] | duplicatedPointsIndices | indices of duplicated cloud points. The first index is the id of point cloud seen from the detected loop keyframe. The second one is id of point cloud seen from the query keyframe |
- Returns
- FrameworkReturnCode::SUCCESS if detect a loop closure, else FrameworkReturnCode::_ERROR
◆ setCameraParameters()
void SolAR::MODULES::TOOLS::SolARLoopClosureDetector::setCameraParameters |
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const SolAR::datastructure::CamCalibration & |
intrinsicParams, |
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const SolAR::datastructure::CamDistortion & |
distortionParams |
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) |
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override |
this method is used to set intrinsic parameters and distorsion of the camera
- Parameters
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[in] | intrinsicParams | Camera calibration matrix parameters. |
[in] | distortionParams | Camera distortion parameters. |
The documentation for this class was generated from the following file: