SFM

An SfmTrack stores SfM measurements grouped in a track . More...

Classes
class	gtsam::EssentialMatrixConstraint
	Binary factor between two Pose3 variables induced by an EssentialMatrix measurement. More...
class	gtsam::EssentialMatrixFactor
	Factor that evaluates epipolar error p'Ep for given essential matrix. More...
class	gtsam::EssentialMatrixFactor2
	Binary factor that optimizes for E and inverse depth d: assumes measurement in image 2 is perfect, and returns re-projection error in image 1. More...
class	gtsam::EssentialMatrixFactor3
	Binary factor that optimizes for E and inverse depth d: assumes measurement in image 2 is perfect, and returns re-projection error in image 1 This version takes an extrinsic rotation to allow for omni-directional rigs. More...
class	gtsam::EssentialMatrixFactor4< CALIBRATION >
	Binary factor that optimizes for E and calibration K using the algebraic epipolar error (K^-1 pA)'E (K^-1 pB). More...
class	gtsam::EssentialMatrixFactor5< CALIBRATION >
	Binary factor that optimizes for E and two calibrations Ka and Kb using the algebraic epipolar error (Ka^-1 pA)'E (Kb^-1 pB). More...
class	gtsam::MFAS
	The MFAS class to solve a Minimum feedback arc set (MFAS) problem. More...
struct	gtsam::SfmData
	SfmData stores a bunch of SfmTracks. More...
class	gtsam::TranslationFactor
	Binary factor for a relative translation direction measurement w_aZb. More...
class	gtsam::BilinearAngleTranslationFactor
	Binary factor for a relative translation direction measurement w_aZb. More...

Detailed Description

An SfmTrack stores SfM measurements grouped in a track .