From 226f6ad0cec2bd68d8d0726d90647020672636a6 Mon Sep 17 00:00:00 2001
From: nsrinivasan7 <natesh.rvce@gmail.com>
Date: Sat, 11 Apr 2015 10:28:44 -0400
Subject: [PATCH] added sift index options to dataset for reassosiation of data

---
 gtsam/slam/dataset.cpp | 1 +
 gtsam/slam/dataset.h   | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index d3a7c1e84..0667c1427 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -670,6 +670,7 @@ bool readBundler(const string& filename, SfM_data &data) {
       float u, v;
       is >> cam_idx >> point_idx >> u >> v;
       track.measurements.push_back(make_pair(cam_idx, Point2(u, -v)));
+      track.siftIndices.push_back(make_pair(cam_idx, point_idx));
     }
 
     data.tracks.push_back(track);
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index 3a0f8edb7..21c23f0e0 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -137,11 +137,15 @@ GTSAM_EXPORT GraphAndValues load3D(const std::string& filename);
 /// A measurement with its camera index
 typedef std::pair<size_t, Point2> SfM_Measurement;
 
+/// SfM_Track
+typedef std::pair<size_t, size_t> SIFT_Index;
+
 /// Define the structure for the 3D points
 struct SfM_Track {
   Point3 p; ///< 3D position of the point
   float r, g, b; ///< RGB color of the 3D point
   std::vector<SfM_Measurement> measurements; ///< The 2D image projections (id,(u,v))
+  std::vector<SIFT_Index> siftIndices;
   size_t number_measurements() const {
     return measurements.size();
   }