Inheritance diagram for gtsam::SfmTrack:

Collaboration diagram for gtsam::SfmTrack:

Public Member Functions
Constructors
	SfmTrack (float r=0, float g=0, float b=0)

	SfmTrack (const gtsam::Point3 &pt, float r=0, float g=0, float b=0)

Standard Interface
const Point3 &	point3 () const
	Get 3D point.

Point3	rgb () const
	Get RGB values describing 3d point.

Testable
void	print (const std::string &s="") const
	print

bool	equals (const SfmTrack &sfmTrack, double tol=1e-9) const
	assert equality up to a tolerance

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. More...

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
Point3	p
	3D position of the point

float	r

float	g

float	b
	RGB color of the 3D point.

std::vector< SfmMeasurement >	measurements
	The 2D image projections (id,(u,v))

std::vector< SiftIndex >	siftIndices
	The feature descriptors (optional)

Member Function Documentation

◆ hasUniqueCameras()

bool gtsam::SfmTrack2d::hasUniqueCameras ( ) const

inlineinherited

Check that no two measurements are from the same camera.

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/SfmTrack.h