Reproject keypoints with estimating depth to 3D cloud points. UUID: 6f0c5373-1b00-41ce-ab1b-a845b83f65b3 More...

Inheritance diagram for SolAR::MODULES::TOOLS::SolARStereoReprojection:

Collaboration diagram for SolAR::MODULES::TOOLS::SolARStereoReprojection:

Public Member Functions
	SolARStereoReprojection ()
	SolARStereoReprojection constructor;.

	~SolARStereoReprojection () override
	SolARStereoReprojection destructor;.

FrameworkReturnCode	reprojectToUnrectification (const std::vector< SolAR::datastructure::Keypoint > &rectifiedKeypoints, const SolAR::datastructure::RectificationParameters &rectParams, std::vector< SolAR::datastructure::Keypoint > &unrectifiedKeypoints) override
	Reproject depth of rectified keypoints to unrectified keypoints. More...

FrameworkReturnCode	reprojectToCloudPoints (const std::vector< SolAR::datastructure::Keypoint > &undistortedKeypoints, const SRef< SolAR::datastructure::DescriptorBuffer > descriptors, const SolAR::datastructure::Transform3Df &pose, const SolAR::datastructure::CamCalibration &intrinsicParams, std::vector< SRef< SolAR::datastructure::CloudPoint > > &cloudPoints) override
	Reproject 2D keypoints with depths to 3D cloud points in the world coordinate system. More...

void	unloadComponent () override final

Detailed Description

Reproject keypoints with estimating depth to 3D cloud points. UUID: 6f0c5373-1b00-41ce-ab1b-a845b83f65b3

Member Function Documentation

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARStereoReprojection::reprojectToCloudPoints	(	const std::vector< SolAR::datastructure::Keypoint > &	undistortedKeypoints,
		const SRef< SolAR::datastructure::DescriptorBuffer >	descriptors,
		const SolAR::datastructure::Transform3Df &	pose,
		const SolAR::datastructure::CamCalibration &	intrinsicParams,
		std::vector< SRef< SolAR::datastructure::CloudPoint > > &	cloudPoints
	)

override

Reproject 2D keypoints with depths to 3D cloud points in the world coordinate system.

Parameters

[in]	undistortedkeypoints	The undistorted keypoints of image.
[in]	descriptors	The descriptors corresponding to the keypoints.
[in]	pose	The pose of image.
[in]	intrinsicParams	The intrinsic parameters of the camera.
[out]	cloudPoints	The output cloud points.

Returns: FrameworkReturnCode::SUCCESS if reprojecting succeed, else FrameworkReturnCode::_ERROR

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARStereoReprojection::reprojectToUnrectification	(	const std::vector< SolAR::datastructure::Keypoint > &	rectifiedKeypoints,
		const SolAR::datastructure::RectificationParameters &	rectParams,
		std::vector< SolAR::datastructure::Keypoint > &	unrectifiedKeypoints
	)

override

Reproject depth of rectified keypoints to unrectified keypoints.

Parameters

[in]	rectifiedKeypoints	The rectified keypoints containing depth information.
[in]	rectParams	The rectification parameters.
[out]	unrectifiedKeypoints	The unrectified keypoints for estimating depth information.

Returns: FrameworkReturnCode::SUCCESS if reprojecting succeed, else FrameworkReturnCode::_ERROR

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