Detect a loop closure from a given keyframe. UUID: 58087630-1376-11eb-adc1-0242ac120002 More...

Inheritance diagram for SolAR::MODULES::TOOLS::SolAROverlapDetector:

Collaboration diagram for SolAR::MODULES::TOOLS::SolAROverlapDetector:

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::Map > globalMap, const SRef< SolAR::datastructure::Map > floatingMap, SolAR::datastructure::Transform3Df &sim3Transform, std::vector< std::pair< uint32_t, uint32_t > > &cpOverlapIndices) const override
	Detect overlap between two floating maps with different refences. More...

FrameworkReturnCode	detect (const SRef< SolAR::datastructure::Map > globalMap, const SRef< SolAR::datastructure::Map > floatingMap, std::vector< SolAR::datastructure::Transform3Df > &sim3Transform, std::vector< std::pair< uint32_t, uint32_t > > &overlapIndices, std::vector< double > &scores) const override
	Detect overlap between two floating maps with different refences. More...

void	unloadComponent () override final

Detailed Description

Detect a loop closure from a given keyframe. UUID: 58087630-1376-11eb-adc1-0242ac120002

Injectables

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

FrameworkReturnCode SolAR::MODULES::TOOLS::SolAROverlapDetector::detect	(	const SRef< SolAR::datastructure::Map >	globalMap,
		const SRef< SolAR::datastructure::Map >	floatingMap,
		SolAR::datastructure::Transform3Df &	sim3Transform,
		std::vector< std::pair< uint32_t, uint32_t > > &	cpOverlapIndices
	)		const

override

Detect overlap between two floating maps with different refences.

Parameters

[in]	globalMap	global map as reference.
[in]	floatingMap	floating map as the map to merge.
[out]	sim3Transform	3D similarity transformation (Sim(3)) from the floating map to the global map.
[out]	cpOverlapIndices	pairs of detected overlap cloud points indices of floating map and global map.

Returns: FrameworkReturnCode::SUCCESS if detect a loop closure, else FrameworkReturnCode::_ERROR

FrameworkReturnCode SolAR::MODULES::TOOLS::SolAROverlapDetector::detect	(	const SRef< SolAR::datastructure::Map >	globalMap,
		const SRef< SolAR::datastructure::Map >	floatingMap,
		std::vector< SolAR::datastructure::Transform3Df > &	sim3Transform,
		std::vector< std::pair< uint32_t, uint32_t > > &	overlapIndices,
		std::vector< double > &	scores
	)		const

override

Detect overlap between two floating maps with different refences.

Parameters

[in]	globalMap	global map as reference.
[in]	floatingMap	floating map as the map to merge.
[out]	sim3Transform	3D similarity transformation (Sim(3)) from query keyframe from the floating map to the detected overlaped keyframe in global map.
[out]	overlapIndices	pairs of detected overlap keyframe indices of floating map and global map.
[out]	scores	: represent scores of overlap candidates.

Returns: FrameworkReturnCode::SUCCESS if detect a loop closure, else FrameworkReturnCode::_ERROR

void SolAR::MODULES::TOOLS::SolAROverlapDetector::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: