Detailed Description

Track containing 2D measurements associated with a single 3D point.

Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement. This class holds data temporarily before 3D point is initialized.

Inheritance diagram for gtsam::SfmTrack2d:

Public Member Functions
Constructors
	SfmTrack2d (const std::vector< SfmMeasurement > &measurements)
Standard Interface
void	addMeasurement (size_t idx, const gtsam::Point2 &m)
	Add measurement (camera_idx, Point2) to track.
size_t	numberMeasurements () const
	Total number of measurements in this track.
const SfmMeasurement &	measurement (size_t idx) const
	Get the measurement (camera index, Point2) at pose index idx.
const SiftIndex &	siftIndex (size_t idx) const
	Get the SIFT feature index corresponding to the measurement at idx.
bool	hasUniqueCameras () const
	Check that no two measurements are from the same camera.
Vectorized Interface
Eigen::MatrixX2d	measurementMatrix () const
	Return the measurements as a 2D matrix.
Eigen::VectorXi	indexVector () const
	Return the camera indices of the measurements.

Public Attributes
std::vector< SfmMeasurement >	measurements
	The 2D image projections (id,(u,v)).
std::vector< SiftIndex >	siftIndices
	The feature descriptors (optional).

Member Function Documentation

bool gtsam::SfmTrack2d::hasUniqueCameras ( ) const

inline

Check that no two measurements are from the same camera.

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