remove pose strcuture from all concerned interfaces and replace it by…

… Transform3D
SolarFramework · May 7, 2018 · a0e9fb0 · a0e9fb0
1 parent a678ce4
commit a0e9fb0
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Showing 5 changed files with 11 additions and 11 deletions.
diff --git a/interfaces/api/solver/map/ITriangulator.h b/interfaces/api/solver/map/ITriangulator.h
@@ -39,8 +39,8 @@ namespace SolAR {
                                            const std::vector<SRef<Point2Df>>& pt2d_2,
                                            const std::vector<DescriptorMatch>&matches,
                                            const std::pair<int,int>&working_views,
-                                           const SRef<Pose>&p1,
-                                           const SRef<Pose>&p2,
+                                           const Transform3Df&p1,
+                                           const Transform3Df&p2,
                                            const CamCalibration&cam,
                                            const CamDistortion&dist,
                                          std::vector<SRef<CloudPoint>>& pcloud)=0;
@@ -58,11 +58,11 @@ namespace SolAR {
                                              const std::vector<SRef<Point2Df>>& pt2d_2,
                                              const std::vector<DescriptorMatch>&matches,
                                              const std::pair<int,int>&working_views,
-                                             const SRef<Pose>&p1,
-                                             const std::vector<SRef<Pose>>&p2,
+                                             const Transform3Df&p1,
+                                             const std::vector<Transform3Df>&p2,
                                              const CamCalibration&cam,
                                              const CamDistortion&dist,
-                                             SRef<Pose>&corrected_p,
+                                             Transform3Df&corrected_p,
                                              std::vector<SRef<CloudPoint>>& pcloud)=0;
 
                 XPCF_DECLARE_UUID("3a01b0e9-9a76-43f5-97b3-85bb6979b953");

diff --git a/interfaces/api/solver/pose/I2Dto3DTransformDecomposer.h b/interfaces/api/solver/pose/I2Dto3DTransformDecomposer.h
@@ -48,7 +48,7 @@ using namespace datastructure;
                     virtual bool decompose(const Transform2Df& F,
                                            const CamCalibration& K,
                                            const CamDistortion& dist,
-                                           std::vector<SRef<Pose>>& decomposedPoses)= 0;
+                                           std::vector<Transform3Df>& decomposedPoses)= 0;
                     XPCF_DECLARE_UUID("0404e8b9-b824-4852-a34d-6eafa7563918");
                 };
             }

diff --git a/interfaces/api/solver/pose/I3DTransformFinder.h b/interfaces/api/solver/pose/I3DTransformFinder.h
@@ -49,10 +49,10 @@ namespace SolAR {
                     /// @param[out] Camera pose in the world coordinates system of the view_1.
                     virtual FrameworkReturnCode estimate(const std::vector<SRef<Point2Df>> & imagePoints,
                                                          const std::vector<SRef<Point3Df>> & worldPoints,
-                                                         SRef<Pose> & pose) =0;    ///
+                                                         Transform3Df & pose) =0;    ///
 
                     virtual FrameworkReturnCode reproject(SRef<Image>&input,
-                                                                  SRef<Pose> & pose,
+                                                                  Transform3Df & pose,
                                                                   const CamCalibration&cam,
                                                                   const CamDistortion&dist,
                                                                   std::vector<SRef<Point2Df>> & imagePoints,

diff --git a/interfaces/datastructure/Keyframe.h b/interfaces/datastructure/Keyframe.h
@@ -47,11 +47,11 @@ class SOLARFRAMEWORK_API Keyframe {
     Keyframe::Keyframe(SRef<Image>view,
              SRef<DescriptorBuffer>desc,
              int idx,
-             SRef<Pose>pose,
+             Transform3Df&pose,
              std::vector<SRef<Keypoint>>kpts);
     SRef<Image> m_view;
     int m_idx;
-    SRef<Pose> m_pose;
+    Transform3Df m_pose;
 
     private:    
     SRef<DescriptorBuffer> m_descriptor;

diff --git a/src/datastructure/Keyframe.cpp b/src/datastructure/Keyframe.cpp
@@ -26,7 +26,7 @@ namespace datastructure {
         Keyframe::Keyframe(SRef<Image>view,
                  SRef<DescriptorBuffer>desc,
                  int idx,
-                 SRef<Pose>pose,
+                 Transform3Df&pose,
                  std::vector<SRef<Keypoint>>kpts): m_view(view),
                                                    m_descriptor(desc),
                                                    m_idx(idx),