Feat/improve 2d3d reproj#130
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May 27, 2026
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Approved, just some minor questions.
| /// @param[in] maskCollection input list of masks | ||
| /// @param[out] semanticIds estimated semantic ids and probabilities for each input cloud point | ||
| /// @return FrameworkReturnCode::_SUCCESS (semantic id estimated successfully) otherwise FrameworkReturnCode::_ERROR_ (failure) | ||
| virtual FrameworkReturnCode estimate(const std::vector<SRef<SolAR::datastructure::CloudPoint>>& points, |
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Some question to better understand:
- Why has this method been added?
- Why this one takes
pointsas const ? In the current implementation, the other methods calls this one and usessemanticIdsto update itspointCloud. Is it because the first takes a whole point cloud whereas here it can be a subset of cloud points...? - For the other method, aren't we interested in getting semanticIds as well ? It could be optional, for example, the argument could be added as a pointer to the vector, with
nullptras a default value?
estimate(SRef<SolAR::datastructure::PointCloud> pointCloud,
std::vector<std::vector<std::pair<int16_t, float>>>* semanticIds = nullptr);If it's null, you create and use it internally, otherwise, you use the given instance.
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this new method has been added to be able to output multiple semantic Ids for the same cloud point. previously, only the most probable semantic Id is set to cloud point via cloudPoint->setSemanticId()
the new method does not call setSemanticId() inside and the input list of points will not be modified
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