SimpleSfM Class Reference

Simple structure from motion implementation using CameraEC , MarkerDetectorEC and TrackerFeaturesEC. More...

#include <SfM.h>

Classes
class	Feature
	Extended version of ExternalContainer structure used internally in SimpleSfM. More...

Public Member Functions
	SimpleSfM ()
	Constructor.
void	Reset (bool reset_also_triangulated=true)
	Reset the situation back to the point it was when SetResetPoint was called.
void	SetResetPoint ()
	Remember the current state and return here when the Reset is called.
void	Clear ()
	Clear all tracked features.
void	SetScale (double s)
	Set the suitable scale to be used. This affects quite much how the tracking behaves (when features are triangulated etc.)
CameraEC *	GetCamera ()
	Get the camera used internally. You need to use this to set correct camera calibration (see SamplePointcloud)
Pose *	GetPose ()
	Get the estimated pose.
bool	AddMultiMarker (const char *fname, FILE_FORMAT format=FILE_FORMAT_XML)
	Add MultiMarker from file as a basis for tracking. It is good idea to call SetResetPoint after these.
bool	AddMultiMarker (MultiMarkerEC *mm)
	Add MultiMarker to be a basis for tracking. It is good idea to call SetResetPoint after these.
void	AddMarker (int marker_id, double edge_length, Pose &pose)
	Add an marker to be a basis for tracking. It is good idea to call SetResetPoint after these.
bool	Update (cv::Mat &image, bool assume_plane=true, bool triangulate=true, float reproj_err_limit=5.f, float triangulate_angle=15.f)
	Update position assuming that camera is moving with 6-DOF.
bool	UpdateTriangulateOnly (cv::Mat &image)
	Update camera 6-DOF position using triangulated points only (This is the old version of Update)
bool	UpdateRotationsOnly (cv::Mat &image)
	Update position assuming that user is more standing still and viewing the environment.
void	Draw (cv::Mat &rgba)
	Draw debug information about the tracked features and detected markers.

Public Attributes
std::map< int, Feature >	container
	The map of all tracked features.
std::map< int, Feature >	container_triangulated

Protected Attributes
std::map< int, Feature >	container_reset_point
std::map< int, Feature >	container_triangulated_reset_point
CameraEC	cam
MarkerDetectorEC< MarkerData >	marker_detector
TrackerFeaturesEC	tf
Pose	pose
bool	pose_ok
bool	update_tri
std::string	multi_marker_file
bool	markers_found
double	scale
Pose	pose_original
Pose	pose_difference

Detailed Description

Simple structure from motion implementation using CameraEC , MarkerDetectorEC and TrackerFeaturesEC.

See SamplePointcloud for usage example.

Definition at line 41 of file SfM.h.

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

• SfM.h