Filters a cloud of 3D points by removing points with a too important reporjection error or those which are behind the camera. UUID: 09205b96-7cba-4415-bc61-64744bc26222 More...

#include <SolARMapFilter.h>

Inheritance diagram for SolAR::MODULES::TOOLS::SolARMapFilter:

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Collaboration diagram for SolAR::MODULES::TOOLS::SolARMapFilter:

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Public Member Functions
void	filter (const SolAR::datastructure::Transform3Df &pose1, const SolAR::datastructure::Transform3Df &pose2, const std::vector< SRef< SolAR::datastructure::CloudPoint > > &input, std::vector< SRef< SolAR::datastructure::CloudPoint > > &output) override
	Filter point cloud reconstructed from 2 viewpoints. More...

void	filter (const SolAR::datastructure::Transform3Df &pose1, const SolAR::datastructure::Transform3Df &pose2, const std::vector< SRef< SolAR::datastructure::CloudPoint > > &input, std::vector< SRef< SolAR::datastructure::CloudPoint > > &output, std::vector< int > &index) override
	Filter point cloud reconstructed from 2 viewpoints. More...

void	unloadComponent () override final

Detailed Description

Filters a cloud of 3D points by removing points with a too important reporjection error or those which are behind the camera. UUID: 09205b96-7cba-4415-bc61-64744bc26222

The projection error threshold as well as the test of cheirality (removing points behind the camera) can be configured.

Properties

reprojErrorThreshold	maximum reprojection error to keep the triangulated 3D point
	type: float; range : [0..MAX FLOAT]; default: 0.5f
cheiralityCheck	if not 0, the point reconstructed behind the camera are removed
	type: int; range : [0..1]; default: 1
minTriangulationAngle	min angle between rays
	type: float; range : [0..MAX FLOAT]; default: 0.03f
maxTriangulationAngle	max angle between rays
	type: float; range : [0..MAX FLOAT]; default: 0.2f

Member Function Documentation

◆ filter() [1/2]

void SolAR::MODULES::TOOLS::SolARMapFilter::filter	(	const SolAR::datastructure::Transform3Df &	pose1,
		const SolAR::datastructure::Transform3Df &	pose2,
		const std::vector< SRef< SolAR::datastructure::CloudPoint > > &	input,
		std::vector< SRef< SolAR::datastructure::CloudPoint > > &	output
	)

override

Filter point cloud reconstructed from 2 viewpoints.

Parameters

[in]	pose1	the first pose used for building the point cloud.
[in]	pose2	the second pose used for building the point cloud.
[in]	input	The set of points to filter
[out]	output	the filtered point cloud

◆ filter() [2/2]

void SolAR::MODULES::TOOLS::SolARMapFilter::filter	(	const SolAR::datastructure::Transform3Df &	pose1,
		const SolAR::datastructure::Transform3Df &	pose2,
		const std::vector< SRef< SolAR::datastructure::CloudPoint > > &	input,
		std::vector< SRef< SolAR::datastructure::CloudPoint > > &	output,
		std::vector< int > &	index
	)