Modeler is a class that builds a mesh for an object represented in a sequence of image. More...

Detailed Description

Modeler is a class that builds a mesh for an object represented in a sequence of image.

When add is called, it runs a gfm::EngineTracking and according to the result of the match, either adds a new triangulation system (i.e. bundler::ViewsManager2) or updates an existing one with a new entry.

When build is called it iterate over the views managers and adds a vertex to the mesh.

The obtained mesh can then be saved in PLY format.

Definition at line 37 of file modeler.hpp.

#include <modeler.hpp>

Inheritance diagram for jafar::modeler::Modeler:

[legend]

List of all members.

Classes
struct	shot
	structure to hold a shot More...
struct	vertex
	holds all the data about a vertex More...
Public Member Functions
	Modeler (camera::CameraType type, const jblas::vec &intrinsics)
	Modeler (camera::CameraType type, const jblas::vec &intrinsics, fdetect_v2::Detector< Feature > _detector, gfm_v2::Matcher< Feature > _matcher)
	the full package modeler for a single camera
	Modeler (fdetect_v2::Detector< Feature > _detector, gfm_v2::Matcher< Feature > _matcher)
	the full package modeler with no camera
int	add (const image::Image &img, geom::T3D *pose)
	adds an image and a pose to the modeler and increments the counter img Image to process pose Camera frame when image was shot
int	add (camera::CameraType type, const jblas::vec &intrinsics, geom::T3D *pose, const image::Image &img)
	adds a camera shot to the modeler and increments the counter img Image to process pose Camera frame when image was shot
void	build ()
	invoke the mesher on the computed vertices
void	save (const std::string &file_name, bool is_binary=false)
	save computed mesh to a ply file
Protected Types
typedef fdetect_v2::InterestFeature < fdetect_v2::FloatDescriptor >	Feature
typedef std::vector< Feature * > ::const_iterator	features_iterator
typedef fdetect_v2::DetectionResult < Feature >	DR
typedef gfm_v2::MatchingResult < Feature >	MR
typedef boost::bimap< Feature *, unsigned int >	bm_type
typedef bm_type::left_map::const_iterator	features_citerator
typedef bm_type::right_map::const_iterator	indices_citerator
Protected Member Functions
	Modeler (JfrMesh &_mesh)
	Modeler (JfrMesh &_mesh, camera::CameraType type, const jblas::vec &intrinsics)
	Modeler (JfrMesh &_mesh, camera::CameraType type, const jblas::vec &intrinsics, fdetect_v2::Detector< Feature > _detector, gfm_v2::Matcher< Feature > _matcher)
	the full package modeler for a single camera
	Modeler (JfrMesh &_mesh, fdetect_v2::Detector< Feature > _detector, gfm_v2::Matcher< Feature > _matcher)
	the full package modeler with no camera
	Modeler (const std::string &ply_mesh_file, camera::CameraType type, const jblas::vec &intrinsics)
	Modeler (const std::string &ply_mesh_file, camera::CameraType type, const jblas::vec &intrinsics, fdetect_v2::Detector< Feature > _detector, gfm_v2::Matcher< Feature > _matcher)
	the full package modeler for a single camera
	Modeler (const std::string &ply_mesh_file, fdetect_v2::Detector< Feature > _detector, gfm_v2::Matcher< Feature > _matcher)
	the full package modeler with no camera
	Modeler (const std::string &ply_mesh_file)
Protected Attributes
fdetect_v2::Detector< Feature > *	detector
	interest features detector
gfm_v2::Matcher< Feature > *	matcher
	interest features matcher
gfm_v2::EngineTracking< Feature > *	tracker
	interest feature tracker
modeler::Mesher *	mesher
	the mesh builder
std::map< unsigned int, bundler::ViewsManager2 * >	bundlers
	map of bundlers
bm_type	features_indices
std::map< unsigned int, fdetect_v2::DetectionResult < Feature > >	sequence_detect
	storage of detection results
unsigned int	index
std::map< unsigned int, vertex >	vertices
	map of vertexes data
std::map< unsigned int, shot >	shots
	map of shots data
unsigned int	global
	the global id for the interest features, if not specified starts with 0
unsigned int	counter
	the global counter for images and poses, if not specified starts with 0
std::string	calibration
	pinhole camera calibration file name
bool	one_camera
	is this a one camera modeler? set by constructor
std::pair< camera::CameraType, jblas::vec >	camera
	cameras storage map
MR	result
	holds current matching result

Constructor & Destructor Documentation

jafar::modeler::Modeler::Modeler	(	camera::CameraType	type,
		const jblas::vec &	intrinsics
	)		`[inline]`

Parameters:

type	Camera type (see camera module)
intrinsics	Camera intrinsic parameters

Definition at line 115 of file modeler.hpp.

References camera.

jafar::modeler::Modeler::Modeler ( JfrMesh & _mesh ) [inline, protected]

Parameters:

_mesh mesh to be processed

Definition at line 143 of file modeler.hpp.

jafar::modeler::Modeler::Modeler	(	JfrMesh &	_mesh,
		camera::CameraType	type,
		const jblas::vec &	intrinsics
	)		`[inline, protected]`

Parameters:

_mesh	mesh to be processed
type	Camera type (see camera module)
intrinsics	Camera intrinsic parameters

Definition at line 154 of file modeler.hpp.

References camera.

jafar::modeler::Modeler::Modeler	(	JfrMesh &	_mesh,
		camera::CameraType	type,
		const jblas::vec &	intrinsics,
		fdetect_v2::Detector< Feature > *	_detector,
		gfm_v2::Matcher< Feature > *	_matcher
	)		`[inline, protected]`

the full package modeler for a single camera

Parameters:

_mesh	mesh to be processed
type	Camera type (see camera module)
intrinsics	Camera intrinsic parameters
_detector	detector of interest features
_matcher	matcher of interest features

Definition at line 171 of file modeler.hpp.

References camera.

jafar::modeler::Modeler::Modeler	(	JfrMesh &	_mesh,
		fdetect_v2::Detector< Feature > *	_detector,
		gfm_v2::Matcher< Feature > *	_matcher
	)		`[inline, protected]`

the full package modeler with no camera

Parameters:

_mesh	mesh to be processed
_detector	detector of interest features
_matcher	matcher of interest features

Definition at line 187 of file modeler.hpp.

jafar::modeler::Modeler::Modeler	(	const std::string &	ply_mesh_file,
		camera::CameraType	type,
		const jblas::vec &	intrinsics
	)		`[inline, protected]`

Parameters:

ply_mesh_file	existing mesh to update saved in a ply file format
type	Camera type (see camera module)
intrinsics	Camera intrinsic parameters

Definition at line 199 of file modeler.hpp.

References camera.

jafar::modeler::Modeler::Modeler	(	const std::string &	ply_mesh_file,
		camera::CameraType	type,
		const jblas::vec &	intrinsics,
		fdetect_v2::Detector< Feature > *	_detector,
		gfm_v2::Matcher< Feature > *	_matcher
	)		`[inline, protected]`

the full package modeler for a single camera

Parameters:

ply_mesh_file	existing mesh to update saved in a ply file format
type	Camera type (see camera module)
intrinsics	Camera intrinsic parameters
_detector	detector of interest features
_matcher	matcher of interest features

Definition at line 217 of file modeler.hpp.

References camera.

jafar::modeler::Modeler::Modeler	(	const std::string &	ply_mesh_file,
		fdetect_v2::Detector< Feature > *	_detector,
		gfm_v2::Matcher< Feature > *	_matcher
	)		`[inline, protected]`

the full package modeler with no camera

Parameters:

ply_mesh_file	existing mesh to update saved in a ply file format
_detector	detector of interest features
_matcher	matcher of interest features

Definition at line 234 of file modeler.hpp.

jafar::modeler::Modeler::Modeler ( const std::string & ply_mesh_file ) [inline, protected]

Parameters:

ply_mesh_file existing mesh to update saved in a ply file format

Definition at line 245 of file modeler.hpp.

Member Function Documentation

int jafar::modeler::Modeler::add	(	const image::Image &	img,
		geom::T3D *	pose
	)

adds an image and a pose to the modeler and increments the counter img Image to process pose Camera frame when image was shot

Returns:: the number of added matches and -1 fo the first image

int jafar::modeler::Modeler::add	(	camera::CameraType	type,
		const jblas::vec &	intrinsics,
		geom::T3D *	pose,
		const image::Image &	img
	)

adds a camera shot to the modeler and increments the counter img Image to process pose Camera frame when image was shot

Returns:: the number of added matches and -1 fo the first image

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

modules/modeler/include/modeler/modeler.hpp

Detailed Description

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation