gtsam 4.2.0
gtsam
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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.
Public Member Functions | |
Constructors | |
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. | |
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) | |
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inline |
Check that no two measurements are from the same camera.