Set of utilities useful across multiple modules that operate on pose-graph. More...

Collaboration diagram for Utils:

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)

Detailed Description

Set of utilities useful across multiple modules that operate on pose-graph.

Function Documentation

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.

Definition at line 65 of file graph_utils.h.

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.

Definition at line 78 of file graph_utils.h.

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.

Compute feature indexes in vertex 'vbd' that are part of some feature track that is common to 'vad', vbd' and 'vcd'. The computation is based solely on information given in edge_kp_idx_map property of edges $(vad, vbd)$ , $(vbd, vcd)$ .

Definition at line 128 of file graph_utils.h.

template<class G >

ImageMatch vslam::computeMatch	(	const G &	g,
		FeatureID< G >	source,
		FeatureID< G >	target
	)

Todo:: use common code from the other computeMatch function.

Definition at line 151 of file graph_utils.h.

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
	)

Definition at line 162 of file graph_utils.h.

template<typename G >

ImageMatchVec vslam::computeMatches	(	typename graph_traits< G >::vertex_descriptor	src,
		typename graph_traits< G >::vertex_descriptor	dest,
		const G &	g
	)

Definition at line 172 of file graph_utils.h.

template<class PoseGraphT >

double vslam::disparityAngle	(	const PoseGraphT &	g,
		FeatureID< PoseGraphT >	f1,
		FeatureID< PoseGraphT >	f2
	)

Definition at line 229 of file graph_utils.h.

cv::DMatch vslam::dmatchFromPair ( const pair< int, int > & p ) [inline]

Definition at line 113 of file graph_utils.h.

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.

Definition at line 87 of file graph_utils.h.

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.

Note:: 'vd1' and 'vd2' can be arbitrary vertices in 'g'.

Definition at line 196 of file graph_utils.h.

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
	)

get feature index in the target pose (i.e. retrive the the feature-feature match)

Definition at line 30 of file graph_utils.h.

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...

Definition at line 46 of file graph_utils.h.

template<class G >

Vector2d vslam::getFeaturePixel	(	const G &	g,
		const FeatureID< G >	f
	)

Returns pixel coordinates of a feature.

Definition at line 333 of file graph_utils.h.

bool vslam::isEstimateInFrontOfCamera	(	const LandmarkObservation &	obs,
		const Vector3d &	estimate
	)		`[inline]`

Definition at line 287 of file graph_utils.h.

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
	)

Definition at line 298 of file graph_utils.h.

template<class G >

double vslam::maxFeatureDistance	(	const G &	g,
		const Points< G > &	points,
		typename Point< G >::VertexD	v
	)

Definition at line 339 of file graph_utils.h.

template<class PoseGraphT >

double vslam::minEdgeDisparityAngle	(	PoseGraphT &	g,
		typename graph_traits< PoseGraphT >::vertex_descriptor	srcv,
		typename graph_traits< PoseGraphT >::vertex_descriptor	destv
	)

Definition at line 241 of file graph_utils.h.

pair<int, int> vslam::pairFromDMatch ( const cv::DMatch & dmatch ) [inline]

Definition at line 117 of file graph_utils.h.

template<class G >

std::string vslam::printVertexId	(	const G &	g,
		typename graph_traits< G >::vertex_descriptor	vd
	)

returns human-readable vertex-id as string.

Definition at line 359 of file graph_utils.h.

vector<cv::DMatch> vslam::remapDMatchIdxs	(	const vector< cv::DMatch > &	dmatches,
		const vector< int > &	tidx,
		const vector< int > &	qidx
	)		`[inline]`

Remap feature indexes.

Definition at line 100 of file graph_utils.h.

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.

Definition at line 52 of file graph_utils.h.

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.

Definition at line 204 of file graph_utils.h.

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.

Note:: the two features do not have to be from vertices sharing an edge.

Returns:: triangulation of the landmark wrt. world CF.

Definition at line 269 of file graph_utils.h.

template<class G >

Vector3d vslam::triangulatePointWrtWorldPos	(	const G &	g,
		FeatureID< G >	f1,
		FeatureID< G >	f2
	)

Definition at line 278 of file graph_utils.h.

double vslam::vectorAngle	(	const Vector3d &	vec1,
		const Vector3d &	vec2
	)		`[inline]`

brief computes angle between two vectors.

Definition at line 223 of file graph_utils.h.

Functions

Feature manipulation utils

Creation of ImageMatch and ImageMatchVec

Edge Transform

Disparity

SFM

Detailed Description

Function Documentation