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.

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 Structure from Motion (SFM) Sample