PoseReconstructor Class Reference

#include <PoseReconstructor.h>

Inheritance diagram for PoseReconstructor:

Collaboration diagram for PoseReconstructor:

Public Types
using	Ptr = std::shared_ptr< PoseReconstructor >
	shared pointer type of PoseReconstructor
Public Types inherited from WorkFlowObject
using	DataQueue = std::queue< DataFlowObject::Ptr >
using	Ptr = std::shared_ptr< WorkFlowObject >
	shared pointer of WorkFlowObject

Public Slots
void	Trigger () override
void	Trigger (DataQueue data) override
Public Slots inherited from WorkFlowObject
virtual void	Trigger ()=0
	trigger one work load of the workflow with preload input and output settings.
virtual void	Trigger (DataQueue data)=0
	trigger one work load of the workflow with input data. More...

Public Member Functions
	PoseReconstructor ()
	Construct a new Pose Reconstructor object.
	PoseReconstructor (GlobalMapObject::Ptr GlobalMap)
	Construct a new Pose Reconstructor object.
virtual	~PoseReconstructor ()
	Destroy the Pose Reconstructor object.
std::string	type_name () override
	Get the Flow Name. More...
virtual bool	Compute (FrameObject::Ptr frame, GlobalMapObject::Ptr GlobalMap=GlobalMapObject::Ptr())=0
	compute the pose of the current frame More...
Public Member Functions inherited from WorkFlowObject
	WorkFlowObject ()
	Construct a new Work Flow Object object.
virtual	~WorkFlowObject ()
	Destroy the Work Flow Object object.
virtual bool	clear ()=0
	clear the workflow state, the workflow should be re-init after clear. More...
virtual bool	isInit ()
	check if the workflow is inited More...
Public Member Functions inherited from MVSObject
	MVSObject ()
	Construct a new MVSObject object.
virtual	~MVSObject ()
	Destroy the MVSObject object.
virtual bool	save (JsonNode &fs)=0
	save data and settings to file More...
virtual bool	load (JsonNode &fs)=0
	load data and settings from file More...
virtual std::string	type_name ()
	get the typename. More...

Protected Attributes
GlobalMapObject::Ptr	GlobalMap
Protected Attributes inherited from WorkFlowObject
bool	m_isInit = false
	default indicator of wether the workflow is initialized, the workflow may or may not use this variable to indicate if its initialized, it depends on the implementation of isInit() method.

Additional Inherited Members
Signals inherited from WorkFlowObject
void	Finished (DataQueue)
	the current work load of the workflow is finished, and the processeed data pointer is stored in the queue, the workflow can be assigned to new work load with trigger() method More...
void	Finished ()
	the current work load of the workflow is finished, the workflow can be assigned to new work load with trigger() method
void	Failed ()
	the current work failed.
void	Error (std::string error)
	emit error message More...
void	Progress (int progress)
	emit percentage of the work load 0-100 More...
void	Warning (std::string warning)
	emit warning output message More...
void	Info (std::string info)
	emit information output message More...
Protected Member Functions inherited from MVSObject
bool	isDirExist (std::string path)
	check if the directory is exist. More...
bool	mkdir (std::string path)
	create directory in given path. More...

Detailed Description

This workflow will analyze feature matches to understand the geometric relationship behind all the 2D observations, and infer the rigid scene structure (3D points) with the pose (position and orientation) and internal calibration of all cameras. The pipeline is a growing reconstruction process (called incremental SfM): it first computes an initial two-view reconstruction that is iteratively extended by adding new views.

Member Function Documentation

Compute()

virtual bool PoseReconstructor::Compute ( FrameObject::Ptr  frame, GlobalMapObject::Ptr  GlobalMap = GlobalMapObject::Ptr()  )

pure virtual

compute the pose of the current frame

Parameters

frame	inputoutput current frame.
GlobalMap	GlobalMap the global map pointer, if the global map is empty, the method will use preloaded global map.

Returns

true calculate the global pose successfully.

false failed to calculate the global pose, or input parameter is incorrect.

Implemented in PinholePoseReconstructor.

Trigger

void PoseReconstructor::Trigger ( )

overrideslot

Warning

this method shold NOT be called since this algorithm can NOT process empty input data.

type_name()

std::string PoseReconstructor::type_name ( )

overridevirtual

Get the Flow Name.

Returns

std::string flow name

Reimplemented from MVSObject.

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

• C:/Users/ZhouZishun/Documents/Workspace/EasyMVS/core/PoseReconstruction/PoseReconstructor.h
• C:/Users/ZhouZishun/Documents/Workspace/EasyMVS/core/PoseReconstruction/PoseReconstructor.cpp