gtsam 4.2.0
gtsam
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gtsam::SfmTrack Struct Reference
+ Inheritance diagram for gtsam::SfmTrack:

Serialization

class boost::serialization::access
 Serialization function.
 
template<class ARCHIVE >
void serialize (ARCHIVE &ar, const unsigned int)
 

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 Point3point3 () 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
 
- Public Member Functions inherited from gtsam::SfmTrack2d
 SfmTrack2d (const std::vector< SfmMeasurement > &measurements)
 
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 SfmMeasurementmeasurement (size_t idx) const
 Get the measurement (camera index, Point2) at pose index idx
 
const SiftIndexsiftIndex (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.
 
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.
 
- Public Attributes inherited from gtsam::SfmTrack2d
std::vector< SfmMeasurementmeasurements
 The 2D image projections (id,(u,v))
 
std::vector< SiftIndexsiftIndices
 The feature descriptors (optional)
 

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