Initialization SLAM using an image stream of a camera. UUID: 8f43eed0-1a2e-4c47-83f0-8dd5b259cdb0 More...

Inheritance diagram for SolAR::MODULES::TOOLS::SolARSLAMBootstrapper:

Collaboration diagram for SolAR::MODULES::TOOLS::SolARSLAMBootstrapper:

Public Member Functions
	SolARSLAMBootstrapper ()
	SolAR3DTransformEstimationFrom3D3D constructor;.

	~SolARSLAMBootstrapper ()=default
	SolAR3DTransformEstimationFrom3D3D destructor;.

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	process (const SRef< SolAR::datastructure::Frame > &frame, SRef< SolAR::datastructure::Image > &view) override
	This method uses images to boostrap mapping. More...

void	unloadComponent () override final

org::bcom::xpcf::XPCFErrorCode	onConfigured () override final

Detailed Description

Initialization SLAM using an image stream of a camera. UUID: 8f43eed0-1a2e-4c47-83f0-8dd5b259cdb0

Injectables

SolAR::api::storage::IMapManager

SolAR::api::features::IDescriptorMatcher

SolAR::api::features::IMatchesFilter

SolAR::api::solver::map::ITriangulator

SolAR::api::solver::map::IMapFilter

SolAR::api::solver::map::IKeyframeSelector

SolAR::api::solver::pose::I3DTransformFinderFrom2D2D

SolAR::api::display::IMatchesOverlay

Properties

hasPose	(0 = false, 1 = true)
	type: int; range : [0, 1]; default: 1
nbMinInitPointCloud
	type: int; range : [0..MAX INT]; default: 50
angleThres
	type: float; range : [0..2PI]; default*: 0.1f

Member Function Documentation

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARSLAMBootstrapper::process	(	const SRef< SolAR::datastructure::Frame > &	frame,
		SRef< SolAR::datastructure::Image > &	view
	)

override

This method uses images to boostrap mapping.

Parameters

[in]	frame	input image to process
[out]	view	output image to visualize

Returns: FrameworkReturnCode::SUCCESS if initialization succeed, else FrameworkReturnCode::_ERROR.

void SolAR::MODULES::TOOLS::SolARSLAMBootstrapper::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]	Camera	calibration matrix parameters.
[in]	Camera	distorsion parameters.

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