Corrects a loop of camera poses and updates associated geometry. UUID: 1007b588-c1f2-11ea-b3de-0242ac130004 More...

Inheritance diagram for SolAR::MODULES::TOOLS::SolARLoopCorrector:

Collaboration diagram for SolAR::MODULES::TOOLS::SolARLoopCorrector:

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	correct (const SRef< SolAR::datastructure::Keyframe > queryKeyframe, const SRef< SolAR::datastructure::Keyframe > detectedLoopKeyframe, const SolAR::datastructure::Transform3Df &S_wl_wc, const std::vector< std::pair< uint32_t, uint32_t > > &duplicatedPointsIndices) override
	corrects a loop of keyframes and their associated point clouds from a loop detection result. More...

void	unloadComponent () override final

Detailed Description

Corrects a loop of camera poses and updates associated geometry. UUID: 1007b588-c1f2-11ea-b3de-0242ac130004

Injectables

SolAR::api::storage::IKeyframesManager

SolAR::api::storage::IPointCloudManager

SolAR::api::storage::ICovisibilityGraph

SolAR::api::features::IDescriptorMatcherRegion

SolAR::api::geom::I3DTransform

SolAR::api::geom::IProject

Member Function Documentation

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARLoopCorrector::correct	(	const SRef< SolAR::datastructure::Keyframe >	queryKeyframe,
		const SRef< SolAR::datastructure::Keyframe >	detectedLoopKeyframe,
		const SolAR::datastructure::Transform3Df &	S_wl_wc,
		const std::vector< std::pair< uint32_t, uint32_t > > &	duplicatedPointsIndices
	)

override

corrects a loop of keyframes and their associated point clouds from a loop detection result.

Parameters

[in]	queryKeyframe	the query keyframe.
[in]	detectedLoopKeyframe	the detected loop keyframe.
[in]	S_wl_wc	: 3D similarity transformation (Sim(3)) from world c.s of the query keyframe to world c.s of the loop detected keyframe
[in]	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 loop closure is correctly corrected, else FrameworkReturnCode::_ERROR

void SolAR::MODULES::TOOLS::SolARLoopCorrector::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: