SolAR::MODULES::TOOLS::SolARSLAMTracking Class Reference

SLAM tracking task. UUID: c45da19d-9637-48b6-ab52-33d3f0af6f72 More...

#include <SolARSLAMTracking.h>

Inheritance diagram for SolAR::MODULES::TOOLS::SolARSLAMTracking:

Collaboration diagram for SolAR::MODULES::TOOLS::SolARSLAMTracking:

Public Member Functions
	SolARSLAMTracking ()
	SolARSLAMTracking constructor;.
	~SolARSLAMTracking ()=default
	SolARSLAMTracking destructor;.
org::bcom::xpcf::XPCFErrorCode	onConfigured () override final
void	setCameraParameters (const SolAR::datastructure::CamCalibration &intrinsicParams, const SolAR::datastructure::CamDistortion &distorsionParams) override
	this method is used to set intrinsic parameters and distorsion of the camera More...
void	setNewKeyframe (const SRef< SolAR::datastructure::Keyframe > newKeyframe) override
	this method is used to set new keyframe for tracking process More...
bool	checkNeedNewKeyframe () override
	check need to create a new keyframe More...
FrameworkReturnCode	process (const SRef< SolAR::datastructure::Frame > frame, SRef< SolAR::datastructure::Image > &displayImage) override
	this method is used to process tracking More...
void	unloadComponent () override final

Detailed Description

SLAM tracking task. UUID: c45da19d-9637-48b6-ab52-33d3f0af6f72

Injectables

SolAR::api::storage::IMapManager

SolAR::api::storage::IKeyframesManager

SolAR::api::features::IDescriptorMatcher

SolAR::api::features::IDescriptorMatcherRegion

SolAR::api::features::IMatchesFilter

SolAR::api::solver::pose::I2D3DCorrespondencesFinder

SolAR::api::solver::pose::I3DTransformFinderFrom2D3D

SolAR::api::solver::pose::I3DTransformSACFinderFrom2D3D

SolAR::api::geom::IProject

SolAR::api::reloc::IKeyframeRetriever

SolAR::api::display::I2DOverlay

Properties

minWeightNeighbor
	type: float; range : [0..MAX FLOAT]; default: 10.f
thresAngleViewDirection
	type: float; range : [0..MAX FLOAT]; default: 0.7f
displayTrackedPoints
	type: int; range : [0..MAX INT]; default: 1

Member Function Documentation

checkNeedNewKeyframe()

bool SolAR::MODULES::TOOLS::SolARSLAMTracking::checkNeedNewKeyframe ( )

override

check need to create a new keyframe

Returns

true if need to create a new keyframe, else false

process()

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

override

this method is used to process tracking

Parameters

[in]	frame	the input frame.
[out]	displayImage	the image to display.

Returns

FrameworkReturnCode::SUCCESS if tracking succeed, else FrameworkReturnCode::_ERROR

setCameraParameters()

void SolAR::MODULES::TOOLS::SolARSLAMTracking::setCameraParameters ( const SolAR::datastructure::CamCalibration &  intrinsicParams, const SolAR::datastructure::CamDistortion &  distorsionParams  )

override

this method is used to set intrinsic parameters and distorsion of the camera

Parameters

[in]	Camera	calibration matrix parameters.
[in]	Camera	distorsion parameters.

setNewKeyframe()

void SolAR::MODULES::TOOLS::SolARSLAMTracking::setNewKeyframe ( const SRef< SolAR::datastructure::Keyframe >  newKeyframe )

override

this method is used to set new keyframe for tracking process

Parameters

[in]

newKeyframme

the new keyframe

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

• SolARModuleTools/interfaces/SolARSLAMTracking.h