gtsam::SfmData Struct Reference

Define the structure for SfM data. More...

#include <dataset.h>

Public Member Functions
void	add_camera (const SfmCamera &cam)
	Add a camera to SfmData. More...
void	add_track (const SfmTrack &t)
	Add a track to SfmData. More...
SfmCamera	camera (size_t idx) const
	The camera pose at frame index idx More...
size_t	number_cameras () const
size_t	number_tracks () const
	The number of reconstructed 3D points. More...
template<class Archive >
void	serialize (Archive &ar, const unsigned int)
SfmTrack	track (size_t idx) const
	The track formed by series of landmark measurements. More...
Testable
bool	equals (const SfmData &sfmData, double tol=1e-9) const
	assert equality up to a tolerance More...
void	print (const std::string &s="") const
	print More...

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

Friends
class	boost::serialization::access

Detailed Description

Define the structure for SfM data.

Definition at line 326 of file dataset.h.

Member Function Documentation

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

inline

Add a camera to SfmData.

Definition at line 349 of file dataset.h.

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

inline

Add a track to SfmData.

Definition at line 345 of file dataset.h.

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

inline

The camera pose at frame index idx

Definition at line 337 of file dataset.h.

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

inline

assert equality up to a tolerance

Definition at line 366 of file dataset.h.

size_t gtsam::SfmData::number_cameras ( ) const

inline

Definition at line 329 of file dataset.h.

size_t gtsam::SfmData::number_tracks ( ) const

inline

The number of reconstructed 3D points.

Definition at line 333 of file dataset.h.

void gtsam::SfmData::print ( const std::string &  s = "" ) const

inline

print

Definition at line 391 of file dataset.h.

template<class Archive >

void gtsam::SfmData::serialize ( Archive &  ar, const unsigned  int  )

inline

Definition at line 356 of file dataset.h.

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

inline

The track formed by series of landmark measurements.

Definition at line 341 of file dataset.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 354 of file dataset.h.

Member Data Documentation

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

Set of cameras.

Definition at line 327 of file dataset.h.

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

Sparse set of points.

Definition at line 328 of file dataset.h.

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

• dataset.h