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>
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... | |
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.
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inlineexplicit |
Definition at line 56 of file SfmTrack.h.
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Add measurement (camera_idx, Point2) to track.
Definition at line 64 of file SfmTrack.h.
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Check that no two measurements are from the same camera.
Definition at line 83 of file SfmTrack.h.
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Return the camera indices of the measurements.
Definition at line 108 of file SfmTrack.h.
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Get the measurement (camera index, Point2) at pose index idx
Definition at line 72 of file SfmTrack.h.
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Return the measurements as a 2D matrix.
Definition at line 99 of file SfmTrack.h.
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Total number of measurements in this track.
Definition at line 69 of file SfmTrack.h.
Get the SIFT feature index corresponding to the measurement at idx
Definition at line 77 of file SfmTrack.h.
std::vector<SfmMeasurement> gtsam::SfmTrack2d::measurements |
The 2D image projections (id,(u,v))
Definition at line 44 of file SfmTrack.h.
std::vector<SiftIndex> gtsam::SfmTrack2d::siftIndices |
The feature descriptors (optional)
Definition at line 47 of file SfmTrack.h.