SfM_data format

SfM_Data is a data container. It contains:

• Views - images
• Intrinsics - intrinsics camera parameters
• Poses - extrinsic camera parameters
• Landmarks - 3D points and their 2D Observations

The View and Intrinsic concept are abstract and so:

• any internal camera model can be used
• any metadata can be stored related to a view.

Dynamic loading of stored object is performed thanks to the cereal serialization library (this library allow polymorphism serialization).