gtsam  4.1.0
gtsam::SfmData Struct Reference

Detailed Description

Define the structure for SfM data.

Public Member Functions

size_t number_cameras () const
size_t number_tracks () const
 The number of reconstructed 3D points.
SfmCamera camera (size_t idx) const
 The camera pose at frame index idx
SfmTrack track (size_t idx) const
 The track formed by series of landmark measurements.
void add_track (const SfmTrack &t)
 Add a track to SfmData.
void add_camera (const SfmCamera &cam)
 Add a camera to SfmData.

Public Attributes

std::vector< SfmCameracameras
 Set of cameras.
std::vector< SfmTracktracks
 Sparse set of points.

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