SfM_data format

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SfM_data format

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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).