Solar
Public Member Functions | List of all members
SolAR::MODULES::TOOLS::SolARLoopClosureDetector Class Reference

Detect a loop closure from a given keyframe. UUID: e3d5946c-c1f1-11ea-b3de-0242ac130004 More...

#include <SolARLoopClosureDetector.h>

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

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 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...
 
void unloadComponent () override final
 

Detailed Description

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

Member Function Documentation

◆ detect()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARLoopClosureDetector::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.

Parameters
[in]queryKeyframethe query keyframe.
[out]detectedLoopKeyframethe detected loop keyframe.
[out]sim3Transform: 3D similarity transformation (Sim(3)) from query keyframe to the detected loop keyframe.
[out]duplicatedPointsIndicesindices 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 ( 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]intrinsicParamsCamera calibration matrix parameters.
[in]distortionParamsCamera distortion parameters.

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