SfmData.h File Reference

Data structure for dealing with Structure from Motion data. More...

Go to the source code of this file.

Classes
struct	gtsam::SfmData
	SfmData stores a bunch of SfmTracks. More...
struct	gtsam::traits< SfmData >
	traits More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
typedef PinholeCamera< Cal3Bundler >	gtsam::SfmCamera
	Define the structure for the camera poses.

Functions
SfmData	gtsam::readBal (const std::string &filename)
	This function parses a "Bundle Adjustment in the Large" (BAL) file and returns the data as a SfmData structure.
bool	gtsam::writeBAL (const std::string &filename, const SfmData &data)
	This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure.
bool	gtsam::writeBALfromValues (const std::string &filename, const SfmData &data, const Values &values)
	This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure and a value structure (measurements are the same as the SfM input data, while camera poses and values are read from Values).
Pose3	gtsam::openGL2gtsam (const Rot3 &R, double tx, double ty, double tz)
	This function converts an openGL camera pose to an GTSAM camera pose.
Pose3	gtsam::gtsam2openGL (const Rot3 &R, double tx, double ty, double tz)
	This function converts a GTSAM camera pose to an openGL camera pose.
Pose3	gtsam::gtsam2openGL (const Pose3 &PoseGTSAM)
	This function converts a GTSAM camera pose to an openGL camera pose.
Values	gtsam::initialCamerasEstimate (const SfmData &db)
	This function creates initial values for cameras from db.
Values	gtsam::initialCamerasAndPointsEstimate (const SfmData &db)
	This function creates initial values for cameras and points from db.

Detailed Description

Data structure for dealing with Structure from Motion data.

Date

January 2022

Author

Frank dellaert