SfmData.h File Reference

Data structure for dealing with Structure from Motion data. More...

#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/sfm/SfmTrack.h>
#include <string>
#include <vector>

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Classes
struct	gtsam::SfmData
	SfmData stores a bunch of SfmTracks. More...
struct	gtsam::traits< SfmData >
	traits More...

Namespaces
	gtsam
	traits

Typedefs
typedef PinholeCamera< Cal3Bundler >	gtsam::SfmCamera
	Define the structure for the camera poses. More...

Functions
Pose3	gtsam::gtsam2openGL (const Pose3 &PoseGTSAM)
	This function converts a GTSAM camera pose to an openGL camera pose. More...
Pose3	gtsam::gtsam2openGL (const Rot3 &R, double tx, double ty, double tz)
	This function converts a GTSAM camera pose to an openGL camera pose. More...
Values	gtsam::initialCamerasAndPointsEstimate (const SfmData &db)
	This function creates initial values for cameras and points from db. More...
Values	gtsam::initialCamerasEstimate (const SfmData &db)
	This function creates initial values for cameras from db. More...
Pose3	gtsam::openGL2gtsam (const Rot3 &R, double tx, double ty, double tz)
	This function converts an openGL camera pose to an GTSAM camera pose. More...
SfmData	gtsam::readBal (const std::string &filename)
	This function parses a "Bundle Adjustment in the Large" (BAL) file and returns the data as a SfmData structure. Mainly used by wrapped code. More...
bool	gtsam::writeBAL (const std::string &filename, const SfmData &data)
	This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure. More...
bool	gtsam::writeBALfromValues (const std::string &filename, const SfmData &data, const Values &values)
	This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure and a value structure (measurements are the same as the SfM input data, while camera poses and values are read from Values) More...

Detailed Description

Data structure for dealing with Structure from Motion data.

Date

January 2022

Author

Frank dellaert

Definition in file SfmData.h.