gtsam 4.2.0
gtsam
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SfmData.h File Reference

Data structure for dealing with Structure from Motion data. More...

Go to the source code of this file.

Classes

struct  gtsam::SfmData
 SfmData stores a bunch of SfmTracks. More...
 
struct  gtsam::traits< SfmData >
 traits More...
 

Namespaces

namespace  gtsam
 Global functions in a separate testing namespace.
 

Typedefs

typedef PinholeCamera< Cal3Bundlergtsam::SfmCamera
 Define the structure for the camera poses.
 

Functions

SfmData gtsam::readBal (const std::string &filename)
 This function parses a "Bundle Adjustment in the Large" (BAL) file and returns the data as a SfmData structure.
 
bool gtsam::writeBAL (const std::string &filename, const SfmData &data)
 This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure.
 
bool gtsam::writeBALfromValues (const std::string &filename, const SfmData &data, const Values &values)
 This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure and a value structure (measurements are the same as the SfM input data, while camera poses and values are read from Values)
 
Pose3 gtsam::openGL2gtsam (const Rot3 &R, double tx, double ty, double tz)
 This function converts an openGL camera pose to an GTSAM camera pose.
 
Pose3 gtsam::gtsam2openGL (const Rot3 &R, double tx, double ty, double tz)
 This function converts a GTSAM camera pose to an openGL camera pose.
 
Pose3 gtsam::gtsam2openGL (const Pose3 &PoseGTSAM)
 This function converts a GTSAM camera pose to an openGL camera pose.
 
Values gtsam::initialCamerasEstimate (const SfmData &db)
 This function creates initial values for cameras from db.
 
Values gtsam::initialCamerasAndPointsEstimate (const SfmData &db)
 This function creates initial values for cameras and points from db.
 

Detailed Description

Data structure for dealing with Structure from Motion data.

Date
January 2022
Author
Frank dellaert