OpenMVG源码笔记

数据结构

landmark
点云与相关特征点

template<typename Key, typename Value>
using Hash_Map = std::unordered_map;
using Index_T = uint32_t;
struct Observation
{
  Observation():id_feat(UndefinedIndexT) {  }
  Observation(const Vec2 & p, IndexT idFeat): x(p), id_feat(idFeat) {}

  Vec2 x;
  IndexT id_feat;

  // Serialization
  template <class Archive>
  void save( Archive & ar) const;

  // Serialization
  template <class Archive>
  void load( Archive & ar);
};
using Observations = Hash_Map;
struct Landmark {
  Vec3 X;
  Observations obs;
//...
}
using Landmarks = Hash_map;