gtsam::SfmData Struct Reference

SfmData stores a bunch of SfmTracks. More...

#include <SfmData.h>

Public Member Functions
Standard Interface
void	addTrack (const SfmTrack &t)
	Add a track to SfmData.
void	addCamera (const SfmCamera &cam)
	Add a camera to SfmData.
size_t	numberTracks () const
	The number of reconstructed 3D points.
size_t	numberCameras () const
	The number of cameras.
const SfmTrack &	track (size_t idx) const
	The track formed by series of landmark measurements.
const SfmCamera &	camera (size_t idx) const
	The camera pose at frame index idx
const std::vector< SfmCamera > &	cameraList () const
	Getters.
const std::vector< SfmTrack > &	trackList () const
NonlinearFactorGraph	generalSfmFactors (const SharedNoiseModel &model=noiseModel::Isotropic::Sigma(2, 1.0)) const
	Create projection factors using keys i and P(j) More...
NonlinearFactorGraph	sfmFactorGraph (const SharedNoiseModel &model=noiseModel::Isotropic::Sigma(2, 1.0), std::optional< size_t > fixedCamera=0, std::optional< size_t > fixedPoint=0) const
	Create factor graph with projection factors and gauge fix. More...
Testable
void	print (const std::string &s="") const
	print
bool	equals (const SfmData &sfmData, double tol=1e-9) const
	assert equality up to a tolerance

Static Public Member Functions
Create from file
static SfmData	FromBundlerFile (const std::string &filename)
	Parses a bundler output file and return result as SfmData instance. More...
static SfmData	FromBalFile (const std::string &filename)
	Parse a "Bundle Adjustment in the Large" (BAL) file and return result as SfmData instance. More...

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

Detailed Description

SfmData stores a bunch of SfmTracks.

Member Function Documentation

FromBalFile()

static SfmData gtsam::SfmData::FromBalFile ( const std::string &  filename )

static

Parse a "Bundle Adjustment in the Large" (BAL) file and return result as SfmData instance.

Parameters

filename

The name of the BAL file.

Returns

SfM structure where the data is stored.

FromBundlerFile()

static SfmData gtsam::SfmData::FromBundlerFile ( const std::string &  filename )

static

Parses a bundler output file and return result as SfmData instance.

Parameters

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()

NonlinearFactorGraph gtsam::SfmData::generalSfmFactors

(

const SharedNoiseModel &

model = noiseModel::Isotropic::Sigma(2, 1.0)

)

const

Create projection factors using keys i and P(j)

Parameters

model

a noise model for projection errors

Returns

NonlinearFactorGraph

sfmFactorGraph()

NonlinearFactorGraph gtsam::SfmData::sfmFactorGraph	(	const SharedNoiseModel &	model = noiseModel::Isotropic::Sigma(2, 1.0),
		std::optional< size_t >	fixedCamera = 0,
		std::optional< size_t >	fixedPoint = 0
	)		const

Create factor graph with projection factors and gauge fix.

Note: pose keys are simply integer indices, points use Symbol('p', j).

Parameters

model	a noise model for projection errors
fixedCamera	which camera to fix, if any (use std::nullopt if none)
fixedPoint	which point to fix, if any (use std::nullopt if none)

Returns

NonlinearFactorGraph

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/sfm/SfmData.h