graph_utils.h File Reference

#include "utils.h"
#include "pose_graph.h"

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Namespaces
namespace	vslam
	Namespace containing implementation of visual odometry.
Functions
template<class G >
Vector2d	vslam::getFeaturePixel (const G &g, const FeatureID< G > f)
	Returns pixel coordinates of a feature.
template<class G >
void	vslam::landmarkObservationsBySize (const G &g, Points< G > &points, typename graph_traits< G >::vertex_descriptor vd, vector< vector< int > > &all_result, vector< vector< int > > &kf_result)
template<class G >
double	vslam::maxFeatureDistance (const G &g, const Points< G > &points, typename Point< G >::VertexD v)
template<class G >
std::string	vslam::printVertexId (const G &g, typename graph_traits< G >::vertex_descriptor vd)
	returns human-readable vertex-id as string.
Feature manipulation utils
Uses: Adding and removing feature-feature matches. Feature lookup. Common feature tracks.
template<class G >
int	vslam::getFeatureIdx (const G &g, int source_idx, typename graph_traits< G >::vertex_descriptor source_vd, typename graph_traits< G >::vertex_descriptor target_vd)
template<class G >
int	vslam::getFeatureIdx (const G &g, FeatureID< G > srcf, typename graph_traits< G >::vertex_descriptor target_vd)
	get feature index in the target pose...
template<typename G >
void	vslam::remove_idx_pair (int sidx, typename graph_traits< G >::vertex_descriptor src, typename graph_traits< G >::vertex_descriptor dest, G &g)
	delete feature-feature match.
template<typename G >
void	vslam::add_idx_pair (int src_idx, int dest_idx, typename graph_traits< G >::vertex_descriptor src, typename graph_traits< G >::vertex_descriptor dest, G &g)
	insert feature-feature match.
template<typename G >
void	vslam::add_idx_pair_from_dmatch (const cv::DMatch &dmatch, typename graph_traits< G >::vertex_descriptor tvd, typename graph_traits< G >::vertex_descriptor qvd, G &g)
	insert feature-feature match.
template<typename G >
bool	vslam::filter_index_pair_duplicates (const cv::DMatch &dmatch, typename graph_traits< G >::vertex_descriptor src, typename graph_traits< G >::vertex_descriptor dest, G &g)
	returns false if feature-feature match from dmatch is present in the pose-graph.
vector< cv::DMatch >	vslam::remapDMatchIdxs (const vector< cv::DMatch > &dmatches, const vector< int > &tidx, const vector< int > &qidx)
	Remap feature indexes.
cv::DMatch	vslam::dmatchFromPair (const pair< int, int > &p)
pair< int, int >	vslam::pairFromDMatch (const cv::DMatch &dmatch)
template<template< class, class > class CT, class G >
CT< int, std::allocator< int > >	vslam::common_feature_tracks (G &g, typename graph_traits< G >::vertex_descriptor vad, typename graph_traits< G >::vertex_descriptor vbd, typename graph_traits< G >::vertex_descriptor vcd)
	Find feature-tracks common to given 3 vertices.
Creation of ImageMatch and ImageMatchVec
template<class G >
ImageMatch	vslam::computeMatch (const G &g, FeatureID< G > source, FeatureID< G > target)
template<class G >
ImageMatch	vslam::computeMatch (const G &g, int source_idx, typename graph_traits< G >::vertex_descriptor source_vd, typename graph_traits< G >::vertex_descriptor target_vd)
template<typename G >
ImageMatchVec	vslam::computeMatches (typename graph_traits< G >::vertex_descriptor src, typename graph_traits< G >::vertex_descriptor dest, const G &g)
Edge Transform
template<class PoseGraphT >
SE3	vslam::getEdgeTransform (const PoseGraphT &g, typename graph_traits< PoseGraphT >::vertex_descriptor vd1, typename graph_traits< PoseGraphT >::vertex_descriptor vd2)
	Get RBT from 'vd1' CF to 'vd2' CF.
template<class G >
void	vslam::setEdgeTransform (const SE3 &T_tvd_qvd, typename graph_traits< G >::vertex_descriptor tvd, typename graph_traits< G >::vertex_descriptor qvd, G &g)
	Sets edge rigid body transform constraint and updates transform for qvd vertex accordingly.
Disparity
Computation of various disparity-related quantities.
double	vslam::vectorAngle (const Vector3d &vec1, const Vector3d &vec2)
template<class PoseGraphT >
double	vslam::disparityAngle (const PoseGraphT &g, FeatureID< PoseGraphT > f1, FeatureID< PoseGraphT > f2)
template<class PoseGraphT >
double	vslam::minEdgeDisparityAngle (PoseGraphT &g, typename graph_traits< PoseGraphT >::vertex_descriptor srcv, typename graph_traits< PoseGraphT >::vertex_descriptor destv)
SFM
template<class G >
Vector3d	vslam::triangulatePointWrtWorld (const G &g, FeatureID< G > f1, FeatureID< G > f2)
	Triangulates landmark determined by two features in the pose-graph wrt. to world CF.
template<class G >
Vector3d	vslam::triangulatePointWrtWorldPos (const G &g, FeatureID< G > f1, FeatureID< G > f2)
bool	vslam::isEstimateInFrontOfCamera (const LandmarkObservation &obs, const Vector3d &estimate)

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Detailed Description

Definition in file graph_utils.h.