Data Structure

To leverage the 3D reconstruction tasks, we designed a series of data types. The data types are divided into three categories: object types, workflow types, and configuration types. The object types are the basic data types used to store data (e.g. camera pose, maps) in the reconstruction framework. Each object type is ending with "Object" (e.g. CameraObject) The workflow types are the basic process types that perform sub-tasks. The configuration types are used for load/unload settings and managing the pipeline in the reconstruction framework. The data types are shown in the figure below. Details of each data structure can be found in its corresponding pages.

Object Types

Class Name	Class Description
DataFlowObject	Data Foundation Type
CameraObject	Camera type to save camera information like intrinsic parameters
MapPointObject	Map point type to save map point information like 3D coordinates, descriptors, and observations
FrameObject	Frame type to save frame information like image, feature points, and pose
EdgeObject	Edge type to save edge information between different FrameObject or MapPointObject
GlobalMapObject	Map type to save global map information
DenseMapObject	map type to save dense point cloud information

Workflow Types

Class Name	Class Description
WorkFlowObject	Workflow Foundation type
Photographer	Photographer type to control the CameraObject types for providing image input
FeatureExtractor	FeatureExtractor type to extract feature points and descriptors from FrameObject types
FeatureMatcher	FeatureMatcher type to match feature points between FrameObject types
PoseReconstructor	PoseReconstructor type to reconstruct camera poses and MapPointObject from FrameObject types
PoseOptimizer	PoseOptimizer type to optimize camera poses and MapPointObject types
DenseReconstructor	DenseReconstructor type to reconstruct dense point cloud from FrameObject types
DenseOptimizer	DenseOptimizer type to optimize dense point cloud
DenseFilter	DenseFilter type to filter dense point cloud

Configuration & Other Types

Class Name	Class Description
MVSObject	MVSObject type is the root class of this reconstruction framework
ConfigurationObject	ConfigurationObject type to load/unload settings and managing the pipeline in the reconstruction framework
JsonSaver	JsonSaver type to read/write data into json file

Inheritance Diagram

Overview of all classes' inheritance relationships /

Overview of workflow classes' inheritance relationships This is the overview of workflow classes' inheritance relationships. The workflow classes are the basic process types that perform sub-tasks, to better use the signal-slot architecture, the workflow classes are inherited from the QObject class as well.