gtsam  4.1.0
gtsam
gtsam::SfmTrack Struct Reference

Detailed Description

Define the structure for the 3D points.

Public Member Functions

 SfmTrack (const gtsam::Point3 &pt)
 
size_t number_measurements () const
 Total number of measurements in this track.
 
SfmMeasurement measurement (size_t idx) const
 Get the measurement (camera index, Point2) at pose index idx
 
SiftIndex siftIndex (size_t idx) const
 Get the SIFT feature index corresponding to the measurement at idx
 
const Point3point3 () const
 Get 3D point.
 
void add_measurement (size_t idx, const gtsam::Point2 &m)
 Add measurement (camera_idx, Point2) to track.
 

Public Attributes

Point3 p
 3D position of the point
 
float r
 
float g
 
float b
 RGB color of the 3D point.
 
std::vector< SfmMeasurementmeasurements
 The 2D image projections (id,(u,v))
 
std::vector< SiftIndexsiftIndices
 

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