src/dw/imageprocessing/sfm/docs/usecase1.md

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# Copyright (c) 2019-2020, NVIDIA CORPORATION.  All rights reserved.

@page sfm_usecase1 Structure from Motion (SFM) Workflow

## Putting It All Together

The following code snippet shows the general structure of a program that uses the SFM module.

```{.cpp}
dwReconstructor_initialize(...);
while(true)
{
    // CODE: Get frame
    // CODE: Estimate camera rig pose through odometry
    dwReconstructor_predictFeaturePosition(...);

    for each camera
    {
        // CODE: Build pyramid
        // CODE: Track features
    }

    dwReconstructor_estimatePoseAsync(...);
    dwReconstructor_updateHistory(...);

    for each camera
    {
        dwReconstructor_triangulateFeatures(...);
    }

    // CODE: Select features to discard
    dwReconstructor_compactFeatureHistory(...);
    dwReconstructor_compactWorldPoints(...);
}
dwReconstructor_release(...);
```

For the full implementation refer to @ref dwx_struct_from_motion_sample