sfm Directory Reference

Files
	BinaryMeasurement.h
	Binary measurement represents a measurement between two keys in a graph. A binary measurement is similar to a BetweenFactor, except that it does not contain an error function. It is a measurement (along with a noise model) from one key to another. Note that the direction is important. A measurement from key1 to key2 is not the same as the same measurement from key2 to key1.
	DsfTrackGenerator.cpp
	Identifies connected components in the keypoint matches graph.
	DsfTrackGenerator.h
	Identifies connected components in the keypoint matches graph.
	EssentialMatrixConstraint.cpp
	EssentialMatrixConstraint.h
	EssentialMatrixFactor.h
	GlobalPositioner.cpp
	GLOMAP-style joint estimation of camera and landmark positions.
	GlobalPositioner.h
	GLOMAP-style joint estimation of camera and landmark positions from camera-to-point direction measurements.
	LocationRecovery.cpp
	Recover absolute Point3 locations from pairwise Unit3 direction measurements.
	LocationRecovery.h
	Recover absolute Point3 locations from pairwise Unit3 direction measurements, using either chordal or bilinear (BATA) cost functions.
	MFAS.cpp
	Source file for the MFAS class.
	MFAS.h
	MFAS class to solve Minimum Feedback Arc Set graph problem.
	SelfCalibrationFactor.h
	Focal-length self-calibration factor from a fundamental matrix.
	SfmData.cpp
	Data structure for dealing with Structure from Motion data.
	SfmData.h
	Data structure for dealing with Structure from Motion data.
	SfmEliminationMode.h
	Shared CPU/CUDA elimination policy for SFM optimizers.
	SfmLevenbergMarquardt.cpp
	CPU SFM Levenberg-Marquardt implementation.
	SfmLevenbergMarquardt.h
	CPU Levenberg-Marquardt optimizer with optional landmark elimination.
	SfmTrack.cpp
	A simple data structure for a track in Structure from Motion.
	SfmTrack.h
	A simple data structure for a track in Structure from Motion.
	ShonanAveraging.cpp
	Shonan Averaging algorithm.
	ShonanAveraging.h
	Shonan Averaging algorithm.
	ShonanFactor.h
	Main factor type in Shonan averaging, on SO(n) pairs.
	ShonanGaugeFactor.h
	Factor used in Shonan Averaging to clamp down gauge freedom.
	TrajectoryAlignerSim3.h
	Aligning a trajectory of poses to a reference trajectory using a similarity transform.
	TransferFactor.h
	TranslationFactor.h
	Binary factor for a relative translation direction measurement.
	TranslationRecovery.cpp
	Source code for recovering translations when rotations are given.
	TranslationRecovery.h
	Recovering translations in an epipolar graph when rotations are given.
	UnaryMeasurement.h
	Unary measurement represents a measurement on a single key in a graph. It mirrors BinaryMeasurement but holds just one key. The measurement value and noise model are stored without an accompanying error function.