gtsam 4.1.1
gtsam
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gtsam::SfmTrack Struct Reference

Detailed Description

Define the structure for the 3D points.

Public Member Functions

 SfmTrack (float r=0, float g=0, float b=0)
 
 SfmTrack (const gtsam::Point3 &pt, float r=0, float g=0, float b=0)
 
const Point3 rgb () const
 Get RGB values describing 3d point.
 
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 Point3 & point3 () const
 Get 3D point.
 
void add_measurement (size_t idx, const gtsam::Point2 &m)
 Add measurement (camera_idx, Point2) to track.
 
template<class ARCHIVE >
void serialize (ARCHIVE &ar, const unsigned int)
 
bool equals (const SfmTrack &sfmTrack, double tol=1e-9) const
 assert equality up to a tolerance
 
void print (const std::string &s="") const
 print
 

Public Attributes

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

Friends

class boost::serialization::access
 Serialization function.
 
The documentation for this struct was generated from the following file: