gtsam::SfmData Struct Reference

SfmData stores a bunch of SfmTracks. More...

#include <SfmData.h>

Public Member Functions
Standard Interface
void	addTrack (const SfmTrack &t)
	Add a track to SfmData. More...
void	addCamera (const SfmCamera &cam)
	Add a camera to SfmData. More...
size_t	numberTracks () const
	The number of reconstructed 3D points. More...
size_t	numberCameras () const
	The number of cameras. More...
const SfmTrack &	track (size_t idx) const
	The track formed by series of landmark measurements. More...
const SfmCamera &	camera (size_t idx) const
	The camera pose at frame index idx More...
const std::vector< SfmCamera > &	cameraList () const
	Getters. More...
const std::vector< SfmTrack > &	trackList () const
NonlinearFactorGraph	generalSfmFactors (const SharedNoiseModel &model=noiseModel::Isotropic::Sigma(2, 1.0)) const
	Create projection factors using keys i and P(j) More...
NonlinearFactorGraph	sfmFactorGraph (const SharedNoiseModel &model=noiseModel::Isotropic::Sigma(2, 1.0), std::optional< size_t > fixedCamera=0, std::optional< size_t > fixedPoint=0) const
	Create factor graph with projection factors and gauge fix. More...
Testable
void	print (const std::string &s="") const
	print More...
bool	equals (const SfmData &sfmData, double tol=1e-9) const
	assert equality up to a tolerance More...

Static Public Member Functions
Create from file
static SfmData	FromBundlerFile (const std::string &filename)
	Parses a bundler output file and return result as SfmData instance. More...
static SfmData	FromBalFile (const std::string &filename)
	Parse a "Bundle Adjustment in the Large" (BAL) file and return result as SfmData instance. More...

Public Attributes
std::vector< SfmCamera >	cameras
	Set of cameras. More...
std::vector< SfmTrack >	tracks
	Sparse set of points. More...

Detailed Description

SfmData stores a bunch of SfmTracks.

Definition at line 39 of file SfmData.h.

Member Function Documentation

addCamera()

void gtsam::SfmData::addCamera ( const SfmCamera &  cam )

inline

Add a camera to SfmData.

Definition at line 71 of file SfmData.h.

addTrack()

void gtsam::SfmData::addTrack ( const SfmTrack &  t )

inline

Add a track to SfmData.

Definition at line 68 of file SfmData.h.

camera()

const SfmCamera& gtsam::SfmData::camera ( size_t  idx ) const

inline

The camera pose at frame index idx

Definition at line 83 of file SfmData.h.

cameraList()

const std::vector<SfmCamera>& gtsam::SfmData::cameraList ( ) const

inline

Getters.

Definition at line 86 of file SfmData.h.

equals()

bool gtsam::SfmData::equals	(	const SfmData &	sfmData,
		double	tol = 1e-9
	)		const

assert equality up to a tolerance

Definition at line 40 of file SfmData.cpp.

FromBalFile()

SfmData gtsam::SfmData::FromBalFile ( const std::string &  filename )

static

Parse a "Bundle Adjustment in the Large" (BAL) file and return result as SfmData instance.

Parameters

filename

The name of the BAL file.

Returns

SfM structure where the data is stored.

Definition at line 189 of file SfmData.cpp.

FromBundlerFile()

SfmData gtsam::SfmData::FromBundlerFile ( const std::string &  filename )

static

Parses a bundler output file and return result as SfmData instance.

Parameters

filename	The name of the bundler file
data	SfM structure where the data is stored

Returns

true if the parsing was successful, false otherwise

Definition at line 102 of file SfmData.cpp.

generalSfmFactors()

NonlinearFactorGraph gtsam::SfmData::generalSfmFactors

(

const SharedNoiseModel &

model = noiseModel::Isotropic::Sigma(2,                                                                   1.0)

)

const

Create projection factors using keys i and P(j)

Parameters

model

a noise model for projection errors

Returns

NonlinearFactorGraph

Definition at line 388 of file SfmData.cpp.

numberCameras()

size_t gtsam::SfmData::numberCameras ( ) const

inline

The number of cameras.

Definition at line 77 of file SfmData.h.

numberTracks()

size_t gtsam::SfmData::numberTracks ( ) const

inline

The number of reconstructed 3D points.

Definition at line 74 of file SfmData.h.

print()

void gtsam::SfmData::print

(

const std::string &

s = ""

)

const

print

Definition at line 34 of file SfmData.cpp.

sfmFactorGraph()

NonlinearFactorGraph gtsam::SfmData::sfmFactorGraph	(	const SharedNoiseModel &	model = noiseModel::Isotropic::Sigma(2, 1.0),
		std::optional< size_t >	fixedCamera = 0,
		std::optional< size_t >	fixedPoint = 0
	)		const

Create factor graph with projection factors and gauge fix.

Note: pose keys are simply integer indices, points use Symbol('p', j).

Parameters

model	a noise model for projection errors
fixedCamera	which camera to fix, if any (use std::nullopt if none)
fixedPoint	which point to fix, if any (use std::nullopt if none)

Returns

NonlinearFactorGraph

Definition at line 407 of file SfmData.cpp.

track()

const SfmTrack& gtsam::SfmData::track ( size_t  idx ) const

inline

The track formed by series of landmark measurements.

Definition at line 80 of file SfmData.h.

trackList()

const std::vector<SfmTrack>& gtsam::SfmData::trackList ( ) const

inline

Definition at line 87 of file SfmData.h.

Member Data Documentation

cameras

std::vector<SfmCamera> gtsam::SfmData::cameras

Set of cameras.

Definition at line 40 of file SfmData.h.

tracks

std::vector<SfmTrack> gtsam::SfmData::tracks

Sparse set of points.

Definition at line 42 of file SfmData.h.

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

• SfmData.h
• SfmData.cpp