23#include <boost/optional.hpp>
33typedef Eigen::MatrixX2i CorrespondenceIndices;
43 Eigen::MatrixX2d coordinates;
47 boost::optional<gtsam::Vector> scales;
52 Keypoints(
const Eigen::MatrixX2d& coordinates)
53 : coordinates(coordinates){};
56using KeypointsVector = std::vector<Keypoints>;
59using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;
73std::vector<SfmTrack2d> tracksFromPairwiseMatches(
74 const MatchIndicesMap& matches,
const KeypointsVector& keypoints,
75 bool verbose =
false);
Allow for arbitrary type in DSF.
A simple data structure for a track in Structure from Motion.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
Definition DsfTrackGenerator.h:41
boost::optional< gtsam::Vector > responses
Optional confidences/responses for each detection, of shape N.
Definition DsfTrackGenerator.h:50