32typedef Eigen::MatrixX2i CorrespondenceIndices;
42 Eigen::MatrixX2d coordinates;
46 boost::optional<gtsam::Vector> scales;
51 Keypoints(
const Eigen::MatrixX2d& coordinates)
52 : coordinates(coordinates){};
55using KeypointsVector = std::vector<Keypoints>;
58using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;
72std::vector<SfmTrack2d> tracksFromPairwiseMatches(
73 const MatchIndicesMap& matches,
const KeypointsVector& keypoints,
74 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:40
boost::optional< gtsam::Vector > responses
Optional confidences/responses for each detection, of shape N.
Definition: DsfTrackGenerator.h:49