BGL Graph Properties

Boost Graph Library (BGL) properties for BGL graph PoseGraph forms the representation of of pose-graph part of our Main Data Structure (MDS). More...

Collaboration diagram for BGL Graph Properties:

Enumerations
enum	boost::edge_kp_idx_map_t { boost::edge_kp_idx_map = 201 }
	matches between keypoints More...
enum	boost::edge_rel_scale_error_t { boost::edge_rel_scale_error = 203 }
enum	boost::edge_transform_t { boost::edge_transform = 202 }
	T_c1_c2. More...
enum	boost::graph_points_t { boost::graph_points = 301 }
enum	boost::vertex_debug_info_t { boost::vertex_debug_info = 107 }
	debugging information stored with this vertex. More...
enum	boost::vertex_fix_idx_t { boost::vertex_fix_idx = 103 }
	Stores array landmark indexes. More...
enum	boost::vertex_keyframe_flag_t { boost::vertex_keyframe_flag = 106 }
	Is vertex a keyframe? More...
enum	boost::vertex_seq_t { boost::vertex_seq = 104 }
	Stores unique identifier of a vertex. More...
enum	boost::vertex_timestamp_t { boost::vertex_timestamp = 108 }
	ROS timestamp (for the image represented by this vertex. More...
enum	boost::vertex_transform_t { boost::vertex_transform = 105 }
	stores T_wc for pose corresponding to this vertex. 'c' signifies camera CF of the pose. More...
Functions
	boost::BOOST_INSTALL_PROPERTY (vertex, kp)
	boost::BOOST_INSTALL_PROPERTY (vertex, desc)
	boost::BOOST_INSTALL_PROPERTY (vertex, fix_idx)
	boost::BOOST_INSTALL_PROPERTY (vertex, seq)
	boost::BOOST_INSTALL_PROPERTY (vertex, transform)
	boost::BOOST_INSTALL_PROPERTY (vertex, keyframe_flag)
	boost::BOOST_INSTALL_PROPERTY (vertex, debug_info)
	boost::BOOST_INSTALL_PROPERTY (vertex, timestamp)
	boost::BOOST_INSTALL_PROPERTY (edge, kp_idx_map)
	boost::BOOST_INSTALL_PROPERTY (edge, transform)
	boost::BOOST_INSTALL_PROPERTY (edge, rel_scale_error)
	boost::BOOST_INSTALL_PROPERTY (graph, points)
Image representation
Each image is reduced into an array of keypoints and array of descriptors. The indices in the arrays correspond to feature id in a given vertex and pose-graph uniquie feature id if given by FeatureID.
enum	boost::vertex_kp_t { boost::vertex_kp = 101 }
	Stored array of keypoints. More...
enum	boost::vertex_desc_t { boost::vertex_desc = 102 }
	stores array of vertex descriptors More...

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Detailed Description

Boost Graph Library (BGL) properties for BGL graph PoseGraph forms the representation of of pose-graph part of our Main Data Structure (MDS).

Vertices and edges:

• Vertex properties (starting with 'vertex_') represent camera poses.
• Edge properties (starting with 'edge_') represent the results of feature-feature matching between two poses (there is an edge, if the matching was done).

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Enumeration Type Documentation

enum boost::edge_kp_idx_map_t

matches between keypoints

Enumerator:

edge_kp_idx_map

Definition at line 102 of file pose_graph.h.

enum boost::edge_rel_scale_error_t

Todo:

what is it?

Enumerator:

edge_rel_scale_error

Definition at line 109 of file pose_graph.h.

enum boost::edge_transform_t

T_c1_c2.

Todo:

consider removal, i think its redundant

Enumerator:

edge_transform

Definition at line 106 of file pose_graph.h.

enum boost::graph_points_t

Todo:

unused, initially meant for Points class.

Enumerator:

graph_points

Definition at line 112 of file pose_graph.h.

enum boost::vertex_debug_info_t

debugging information stored with this vertex.

Enumerator:

vertex_debug_info

Definition at line 96 of file pose_graph.h.

enum boost::vertex_desc_t

stores array of vertex descriptors

Enumerator:

vertex_desc

Definition at line 71 of file pose_graph.h.

enum boost::vertex_fix_idx_t

Stores array landmark indexes.

If there is a landmark associated with a feature at an index of this array, then it stores the landmark id at the index, otherwise it stores BAD_INDEX value.

See also:

Points

Enumerator:

vertex_fix_idx

Definition at line 81 of file pose_graph.h.

enum boost::vertex_keyframe_flag_t

Is vertex a keyframe?

See also:

Keyframe Manager

Enumerator:

vertex_keyframe_flag

Definition at line 93 of file pose_graph.h.

enum boost::vertex_kp_t

Stored array of keypoints.

Enumerator:

vertex_kp

Definition at line 69 of file pose_graph.h.

enum boost::vertex_seq_t

Stores unique identifier of a vertex.

Enumerator:

vertex_seq

Definition at line 84 of file pose_graph.h.

enum boost::vertex_timestamp_t

ROS timestamp (for the image represented by this vertex.

Enumerator:

vertex_timestamp

Definition at line 99 of file pose_graph.h.

enum boost::vertex_transform_t

stores T_wc for pose corresponding to this vertex. 'c' signifies camera CF of the pose.

Enumerator:

vertex_transform

Definition at line 87 of file pose_graph.h.

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Function Documentation

boost::BOOST_INSTALL_PROPERTY	(	vertex	,
		kp
	)

boost::BOOST_INSTALL_PROPERTY	(	vertex	,
		desc
	)

boost::BOOST_INSTALL_PROPERTY	(	vertex	,
		fix_idx
	)

boost::BOOST_INSTALL_PROPERTY	(	vertex	,
		seq
	)

boost::BOOST_INSTALL_PROPERTY	(	vertex	,
		transform
	)

boost::BOOST_INSTALL_PROPERTY	(	vertex	,
		keyframe_flag
	)

boost::BOOST_INSTALL_PROPERTY	(	vertex	,
		debug_info
	)

boost::BOOST_INSTALL_PROPERTY	(	vertex	,
		timestamp
	)

boost::BOOST_INSTALL_PROPERTY	(	edge	,
		kp_idx_map
	)

boost::BOOST_INSTALL_PROPERTY	(	edge	,
		transform
	)

boost::BOOST_INSTALL_PROPERTY	(	edge	,
		rel_scale_error
	)

boost::BOOST_INSTALL_PROPERTY	(	graph	,
		points
	)