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).