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
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	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	Clear ()
	Clear all tracked features.
void	Draw (IplImage *rgba)
	Draw debug information about the tracked features and detected markers.
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.
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	SetScale (double s)
	Set the suitable scale to be used. This affects quite much how the tracking behaves (when features are triangulated etc.)
	SimpleSfM ()
	Constructor.
bool	Update (IplImage *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	UpdateRotationsOnly (IplImage *image)
	Update position assuming that user is more standing still and viewing the environment.
bool	UpdateTriangulateOnly (IplImage *image)
	Update camera 6-DOF position using triangulated points only (This is the old version of Update)
Public Attributes
std::map< int, Feature >	container
	The map of all tracked features.
std::map< int, Feature >	container_triangulated
Protected Attributes
CameraEC	cam
std::map< int, Feature >	container_reset_point
std::map< int, Feature >	container_triangulated_reset_point
MarkerDetectorEC< MarkerData >	marker_detector
bool	markers_found
std::string	multi_marker_file
Pose	pose
Pose	pose_difference
bool	pose_ok
Pose	pose_original
double	scale
TrackerFeaturesEC	tf
bool	update_tri

Detailed Description

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

See SamplePointcloud for usage example.

Examples:: SamplePointcloud.cpp.

Definition at line 41 of file SfM.h.

Constructor & Destructor Documentation

alvar::SimpleSfM::SimpleSfM ( ) [inline]

Constructor.

Definition at line 93 of file SfM.h.

Member Function Documentation

void alvar::SimpleSfM::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.

Examples:: SamplePointcloud.cpp.

Definition at line 98 of file SfM.cpp.

bool alvar::SimpleSfM::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.

Examples:: SamplePointcloud.cpp.

Definition at line 89 of file SfM.cpp.

bool alvar::SimpleSfM::AddMultiMarker ( MultiMarkerEC * mm )

Add MultiMarker to be a basis for tracking. It is good idea to call SetResetPoint after these.

Definition at line 94 of file SfM.cpp.

void alvar::SimpleSfM::Clear ( )

Clear all tracked features.

Examples:: SamplePointcloud.cpp.

Definition at line 81 of file SfM.cpp.

void alvar::SimpleSfM::Draw ( IplImage * rgba )

Draw debug information about the tracked features and detected markers.

Examples:: SamplePointcloud.cpp.

Definition at line 456 of file SfM.cpp.

CameraEC * alvar::SimpleSfM::GetCamera ( )

Get the camera used internally. You need to use this to set correct camera calibration (see SamplePointcloud)

Examples:: SamplePointcloud.cpp.

Definition at line 85 of file SfM.cpp.

Pose * alvar::SimpleSfM::GetPose ( )

Get the estimated pose.

Examples:: SamplePointcloud.cpp.

Definition at line 87 of file SfM.cpp.

void alvar::SimpleSfM::Reset ( bool reset_also_triangulated = true )

Reset the situation back to the point it was when SetResetPoint was called.

Examples:: SamplePointcloud.cpp.

Definition at line 66 of file SfM.cpp.

void alvar::SimpleSfM::SetResetPoint ( )

Remember the current state and return here when the Reset is called.

Examples:: SamplePointcloud.cpp.

Definition at line 76 of file SfM.cpp.

void alvar::SimpleSfM::SetScale ( double s ) [inline]

Set the suitable scale to be used. This affects quite much how the tracking behaves (when features are triangulated etc.)

Examples:: SamplePointcloud.cpp.

Definition at line 101 of file SfM.h.

bool alvar::SimpleSfM::Update	(	IplImage *	image,
		bool	assume_plane = `true`,
		bool	triangulate = `true`,
		float	reproj_err_limit = `5.f`,
		float	triangulate_angle = `15.f`
	)