SfM_data formatΒΆ

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).