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sfm Directory Reference

## Files

| BinaryMeasurement.h
| Binary measurement represents a measurement between two keys in a graph. A binary measurement is similar to a BetweenFactor, except that it does not contain an error function. It is a measurement (along with a noise model) from one key to another. Note that the direction is important. A measurement from key1 to key2 is not the same as the same measurement from key2 to key1.
| DsfTrackGenerator.cpp
| Identifies connected components in the keypoint matches graph.
| DsfTrackGenerator.h
| Identifies connected components in the keypoint matches graph.
| MFAS.cpp
| Source file for the MFAS class.
| MFAS.h
| MFAS class to solve Minimum Feedback Arc Set graph problem.
| SfmData.cpp
| Data structure for dealing with Structure from Motion data.
| SfmData.h
| Data structure for dealing with Structure from Motion data.
| SfmTrack.cpp
| A simple data structure for a track in Structure from Motion.
| SfmTrack.h
| A simple data structure for a track in Structure from Motion.
| ShonanAveraging.cpp
| Shonan Averaging algorithm.
| ShonanAveraging.h
| Shonan Averaging algorithm.
| ShonanFactor.h
| Main factor type in Shonan averaging, on SO(n) pairs.
| ShonanGaugeFactor.h
| Factor used in Shonan Averaging to clamp down gauge freedom.
| TranslationFactor.h
| Binary factor for a relative translation direction measurement.
| TranslationRecovery.cpp
| Source code for recovering translations when rotations are given.
| TranslationRecovery.h
| Recovering translations in an epipolar graph when rotations are given.