SfmData stores a bunch of SfmTracks.
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class | boost::serialization::access |
| Serialization function.
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template<class Archive > |
void | serialize (Archive &ar, const unsigned int) |
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std::vector< SfmCamera > | cameras |
| Set of cameras.
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std::vector< SfmTrack > | tracks |
| Sparse set of points.
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◆ FromBalFile()
SfmData gtsam::SfmData::FromBalFile |
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const std::string & |
filename | ) |
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static |
Parse a "Bundle Adjustment in the Large" (BAL) file and return result as SfmData instance.
- Parameters
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filename | The name of the BAL file. |
- Returns
- SfM structure where the data is stored.
◆ FromBundlerFile()
SfmData gtsam::SfmData::FromBundlerFile |
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const std::string & |
filename | ) |
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static |
Parses a bundler output file and return result as SfmData instance.
- Parameters
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filename | The name of the bundler file |
data | SfM structure where the data is stored |
- Returns
- true if the parsing was successful, false otherwise
◆ generalSfmFactors()
Create projection factors using keys i and P(j)
- Parameters
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model | a noise model for projection errors |
- Returns
- NonlinearFactorGraph
◆ sfmFactorGraph()
Create factor graph with projection factors and gauge fix.
Note: pose keys are simply integer indices, points use Symbol('p', j).
- Parameters
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model | a noise model for projection errors |
fixedCamera | which camera to fix, if any (use boost::none if none) |
fixedPoint | which point to fix, if any (use boost::none if none) |
- Returns
- NonlinearFactorGraph
The documentation for this struct was generated from the following files:
- /build/gtsam-GuyOn7/gtsam-4.2~9+dfsg/gtsam/sfm/SfmData.h
- /build/gtsam-GuyOn7/gtsam-4.2~9+dfsg/gtsam/sfm/SfmData.cpp