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Classes | |
| struct | property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > > |
| property map that represents edge weights in the graph, where all edges have weight 1. More... | |
Enumerations | |
| enum | edge_kp_idx_map_t { edge_kp_idx_map = 201 } |
| matches between keypoints More... | |
| enum | edge_rel_scale_error_t { edge_rel_scale_error = 203 } |
| enum | edge_transform_t { edge_transform = 202 } |
| T_c1_c2. More... | |
| enum | graph_points_t { graph_points = 301 } |
| enum | vertex_debug_info_t { vertex_debug_info = 107 } |
| debugging information stored with this vertex. More... | |
| enum | vertex_fix_idx_t { vertex_fix_idx = 103 } |
| Stores array landmark indexes. More... | |
| enum | vertex_keyframe_flag_t { vertex_keyframe_flag = 106 } |
| Is vertex a keyframe? More... | |
| enum | vertex_seq_t { vertex_seq = 104 } |
| Stores unique identifier of a vertex. More... | |
| enum | vertex_timestamp_t { vertex_timestamp = 108 } |
| ROS timestamp (for the image represented by this vertex. More... | |
| enum | vertex_transform_t { vertex_transform = 105 } |
| stores T_wc for pose corresponding to this vertex. 'c' signifies camera CF of the pose. More... | |
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 | vertex_kp_t { vertex_kp = 101 } |
| Stored array of keypoints. More... | |
| enum | vertex_desc_t { vertex_desc = 102 } |
| stores array of vertex descriptors More... | |
Functions | |
| BOOST_INSTALL_PROPERTY (vertex, kp) | |
| BOOST_INSTALL_PROPERTY (vertex, desc) | |
| BOOST_INSTALL_PROPERTY (vertex, fix_idx) | |
| BOOST_INSTALL_PROPERTY (vertex, seq) | |
| BOOST_INSTALL_PROPERTY (vertex, transform) | |
| BOOST_INSTALL_PROPERTY (vertex, keyframe_flag) | |
| BOOST_INSTALL_PROPERTY (vertex, debug_info) | |
| BOOST_INSTALL_PROPERTY (vertex, timestamp) | |
| BOOST_INSTALL_PROPERTY (edge, kp_idx_map) | |
| BOOST_INSTALL_PROPERTY (edge, transform) | |
| BOOST_INSTALL_PROPERTY (edge, rel_scale_error) | |
| BOOST_INSTALL_PROPERTY (graph, points) | |
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