gtsam::SfmTrack2d Struct Reference

Track containing 2D measurements associated with a single 3D point. Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement. This class holds data temporarily before 3D point is initialized. More...

#include <SfmTrack.h>

Inheritance diagram for gtsam::SfmTrack2d:

Public Member Functions
Constructors
	SfmTrack2d ()=default
	SfmTrack2d (const std::vector< SfmMeasurement > &measurements)
Standard Interface
void	addMeasurement (size_t idx, const gtsam::Point2 &m)
	Add measurement (camera_idx, Point2) to track. More...
size_t	numberMeasurements () const
	Total number of measurements in this track. More...
const SfmMeasurement &	measurement (size_t idx) const
	Get the measurement (camera index, Point2) at pose index idx More...
const SiftIndex &	siftIndex (size_t idx) const
	Get the SIFT feature index corresponding to the measurement at idx More...
bool	hasUniqueCameras () const
	Check that no two measurements are from the same camera. More...
Vectorized Interface
Eigen::MatrixX2d	measurementMatrix () const
	Return the measurements as a 2D matrix. More...
Eigen::VectorXi	indexVector () const
	Return the camera indices of the measurements. More...

Public Attributes
std::vector< SfmMeasurement >	measurements
	The 2D image projections (id,(u,v)) More...
std::vector< SiftIndex >	siftIndices
	The feature descriptors (optional) More...

Detailed Description

Track containing 2D measurements associated with a single 3D point. Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement. This class holds data temporarily before 3D point is initialized.

Definition at line 42 of file SfmTrack.h.

Constructor & Destructor Documentation

SfmTrack2d() [1/2]

gtsam::SfmTrack2d::SfmTrack2d ( )

default

SfmTrack2d() [2/2]

gtsam::SfmTrack2d::SfmTrack2d ( const std::vector< SfmMeasurement > &  measurements )

inlineexplicit

Definition at line 56 of file SfmTrack.h.

Member Function Documentation

addMeasurement()

void gtsam::SfmTrack2d::addMeasurement ( size_t  idx, const gtsam::Point2 &  m  )

inline

Add measurement (camera_idx, Point2) to track.

Definition at line 64 of file SfmTrack.h.

hasUniqueCameras()

bool gtsam::SfmTrack2d::hasUniqueCameras ( ) const

inline

Check that no two measurements are from the same camera.

Returns

boolean result of the validation.

Definition at line 83 of file SfmTrack.h.

indexVector()

Eigen::VectorXi gtsam::SfmTrack2d::indexVector ( ) const

inline

Return the camera indices of the measurements.

Definition at line 108 of file SfmTrack.h.

measurement()

const SfmMeasurement& gtsam::SfmTrack2d::measurement ( size_t  idx ) const

inline

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

Definition at line 72 of file SfmTrack.h.

measurementMatrix()

Eigen::MatrixX2d gtsam::SfmTrack2d::measurementMatrix ( ) const

inline

Return the measurements as a 2D matrix.

Definition at line 99 of file SfmTrack.h.

numberMeasurements()

size_t gtsam::SfmTrack2d::numberMeasurements ( ) const

inline

Total number of measurements in this track.

Definition at line 69 of file SfmTrack.h.

siftIndex()

const SiftIndex& gtsam::SfmTrack2d::siftIndex ( size_t  idx ) const

inline

Get the SIFT feature index corresponding to the measurement at idx

Definition at line 77 of file SfmTrack.h.

Member Data Documentation

measurements

std::vector<SfmMeasurement> gtsam::SfmTrack2d::measurements

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

Definition at line 44 of file SfmTrack.h.

siftIndices

std::vector<SiftIndex> gtsam::SfmTrack2d::siftIndices

The feature descriptors (optional)

Definition at line 47 of file SfmTrack.h.

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

• SfmTrack.h