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. More...
#include <SfmTrack.h>
Inheritance diagram for gtsam::SfmTrack2d:
Public Member Functions | |
Constructors | |
| SfmTrack2d ()=default | |
| 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. 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 | |
| std::vector< SfmMeasurement > | measurements |
| The 2D image projections (id,(u,v)) | |
| std::vector< SiftIndex > | siftIndices |
| The feature descriptors (optional) | |
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.
Member Function Documentation
◆ hasUniqueCameras()
|
inline |
Check that no two measurements are from the same camera.
- Returns
- boolean result of the validation.
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
