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.
template<class Archive >
void	serialize (Archive &ar, const unsigned int)
Testable
bool	equals (const SfmData &sfmData, double tol=1e-9) const
	assert equality up to a tolerance
void	print (const std::string &s="") const
	print

Public Attributes
std::vector< SfmCamera >	cameras
	Set of cameras.
std::vector< SfmTrack >	tracks
	Sparse set of points.

Friends
class	boost::serialization::access
	Serialization function.

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

• /Users/dellaert/git/github/gtsam/slam/dataset.h