openMVG::sfm::SfM_Data数据结构形式总结

 

 

因为项目中需要用到openMVG::sfm::SfM_Data，这里总结一下它的具体数据结构形式。

首先来看结构体定义：

struct SfM_Data
{
  /// Considered views
  Views views;
  /// Considered poses (indexed by view.id_pose)
  Poses poses;
  /// Considered camera intrinsics (indexed by view.id_intrinsic)
  Intrinsics intrinsics;
  /// Structure (3D points with their 2D observations)
  Landmarks structure;
  /// Controls points (stored as Landmarks (id_feat has no meaning here))
  Landmarks control_points;

  /// Root Views path
  std::string s_root_path;
}

view图像的定义：

/// A view define an image by a string and unique indexes for the view, the camera intrinsic & the pose
struct View
{
  // image path on disk
  std::string s_Img_path;

  // Id of the view
  IndexT id_view;

  // Index of intrinsics and the pose
  IndexT id_intrinsic, id_pose;

  // image size
  IndexT ui_width,