gtsam::SfmTrack Struct Reference

Define the structure for the 3D points. More...

#include <dataset.h>

Public Member Functions
void	add_measurement (size_t idx, const gtsam::Point2 &m)
	Add measurement (camera_idx, Point2) to track. More...
bool	equals (const SfmTrack &sfmTrack, double tol=1e-9) const
	assert equality up to a tolerance More...
SfmMeasurement	measurement (size_t idx) const
	Get the measurement (camera index, Point2) at pose index idx More...
size_t	number_measurements () const
	Total number of measurements in this track. More...
const Point3 &	point3 () const
	Get 3D point. More...
void	print (const std::string &s="") const
	print More...
const Point3	rgb () const
	Get RGB values describing 3d point. More...
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)
	SfmTrack (float r=0, float g=0, float b=0)
	SfmTrack (const gtsam::Point3 &pt, float r=0, float g=0, float b=0)
SiftIndex	siftIndex (size_t idx) const
	Get the SIFT feature index corresponding to the measurement at idx More...

Public Attributes
float	b
	RGB color of the 3D point. More...
float	g
std::vector< SfmMeasurement >	measurements
	The 2D image projections (id,(u,v)) More...
Point3	p
	3D position of the point More...
float	r
std::vector< SiftIndex >	siftIndices

Friends
class	boost::serialization::access

Detailed Description

Define the structure for the 3D points.

Definition at line 220 of file dataset.h.

Constructor & Destructor Documentation

gtsam::SfmTrack::SfmTrack ( float  r = 0, float  g = 0, float  b = 0  )

inline

Definition at line 221 of file dataset.h.

gtsam::SfmTrack::SfmTrack ( const gtsam::Point3 &  pt, float  r = 0, float  g = 0, float  b = 0  )

inline

Definition at line 222 of file dataset.h.

Member Function Documentation

void gtsam::SfmTrack::add_measurement ( size_t  idx, const gtsam::Point2 &  m  )

inline

Add measurement (camera_idx, Point2) to track.

Definition at line 249 of file dataset.h.

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

inline

assert equality up to a tolerance

Definition at line 266 of file dataset.h.

SfmMeasurement gtsam::SfmTrack::measurement ( size_t  idx ) const

inline

Get the measurement (camera index, Point2) at pose index idx

Definition at line 237 of file dataset.h.

size_t gtsam::SfmTrack::number_measurements ( ) const

inline

Total number of measurements in this track.

Definition at line 233 of file dataset.h.

const Point3& gtsam::SfmTrack::point3 ( ) const

inline

Get 3D point.

Definition at line 245 of file dataset.h.

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

inline

print

Definition at line 309 of file dataset.h.

const Point3 gtsam::SfmTrack::rgb ( ) const

inline

Get RGB values describing 3d point.

Definition at line 230 of file dataset.h.

template<class ARCHIVE >

void gtsam::SfmTrack::serialize ( ARCHIVE &  ar, const unsigned  int  )

inline

Definition at line 256 of file dataset.h.

SiftIndex gtsam::SfmTrack::siftIndex ( size_t  idx ) const

inline

Get the SIFT feature index corresponding to the measurement at idx

Definition at line 241 of file dataset.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 254 of file dataset.h.

Member Data Documentation

float gtsam::SfmTrack::b

RGB color of the 3D point.

Definition at line 225 of file dataset.h.

float gtsam::SfmTrack::g

Definition at line 225 of file dataset.h.

std::vector<SfmMeasurement> gtsam::SfmTrack::measurements

The 2D image projections (id,(u,v))

Definition at line 226 of file dataset.h.

Point3 gtsam::SfmTrack::p

3D position of the point

Definition at line 224 of file dataset.h.

float gtsam::SfmTrack::r

Definition at line 225 of file dataset.h.

std::vector<SiftIndex> gtsam::SfmTrack::siftIndices

Definition at line 227 of file dataset.h.

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

• dataset.h