pose_graph.h File Reference

Interface for Main Data Structure. More...

#include "utils.h"
#include "tf/transform_listener.h"
#include "sensor_msgs/CameraInfo.h"
#include "sensor_msgs/CompressedImage.h"
#include "cv_bridge/cv_bridge.h"
#include "image_transport/image_transport.h"
#include "Sophus/se3.h"
#include "feature_matching.h"
#include <vector>
#include <string>
#include <iostream>
#include <fstream>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <assert.h>
#include <algorithm>
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/depth_first_search.hpp>
#include <map>
#include <boost/graph/dijkstra_shortest_paths.hpp>
#include <cmath>
#include <tr1/functional>
#include "graph_builder.h"

Include dependency graph for pose_graph.h:

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Go to the source code of this file.

Classes
class	vslam::AllWeightsOneWeightMap< PoseGraphT >
	property map that represents edge weights in the graph, where all edges have weight 1. More...
class	vslam::CustomOneDetectorNodeBuilder< PoseGraphT >
class	vslam::CustomOneDetectorNodeBuilderFeature2D< PoseGraphT >
class	vslam::EdgeBuilder< G >
	Interface for adding edges to the pose-graph. More...
class	vslam::FeatureID< G >
	unique identification af landmark observation (feature) in the pose-graph. More...
class	vslam::MonoFtrClassEdgeBuilder< G >
	Implementation of EdgeBuilder, where there is only one kind of feature detector-descriptor pair. More...
class	vslam::NMSOptions
	Set up non-maxima supression (NMS) functionality of OneDetectorNodeBuilder. More...
class	vslam::OneDetectorNodeBuilder< PoseGraphT >
	Interface for adding and removing nodes in the pose-graph. More...
class	vslam::PerformanceLogger< G >
	Records time elapsed between construction and destruction of this object. More...
class	vslam::Points< G >
struct	boost::property_traits< vslam::AllWeightsOneWeightMap< PoseGraphT > >
	property map that represents edge weights in the graph, where all edges have weight 1. More...
class	vslam::VertexDebugInfo
	Debugging info for a vertex. More...
Namespaces
namespace	boost
	??
namespace	vslam
	Namespace containing implementation of visual odometry.
namespace	vslam::lmdetails
	Implementation details of Landmark Manager module.
Typedefs
typedef ALIGNED< pair< int, Vector3d > >::vector	vslam::IdxPoint3dVec
typedef graph_traits < PoseGraph >::edge_descriptor	vslam::PGEdgeD
typedef graph_traits < PoseGraph > ::vertex_descriptor	vslam::PGVertexD
typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::directedS, boost::property< vertex_kp_t, std::vector< cv::KeyPoint > , boost::property < vertex_desc_t, cv::Mat, boost::property < vertex_fix_idx_t, vector < int >, boost::property < vertex_seq_t, int, boost::property < boost::vertex_keyframe_flag_t, int, boost::property < boost::vertex_debug_info_t, VertexDebugInfo, boost::property < boost::vertex_timestamp_t, uint64_t, boost::property < vertex_transform_t, SE3 > > > > > > > >, boost::property < edge_kp_idx_map_t, map< int, int >, boost::property < edge_transform_t, SE3, boost::property < edge_rel_scale_error_t, double > > > >	vslam::PoseGraph
	representation of a pose-graph.
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...
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...
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)
std::tr1::shared_ptr < RobustFeatureMatcher >	vslam::constructRMatcher (std::tr1::shared_ptr< cv::DescriptorMatcher > _dmatcher, std::tr1::shared_ptr< EMatrixModelBuilder > _minbuilder, std::tr1::shared_ptr< EMatrixModelBuilder > _builder)
template<class PoseGraphT >
int	vslam::get (AllWeightsOneWeightMap< PoseGraphT > pmap, typename boost::property_traits< AllWeightsOneWeightMap< PoseGraphT > >::key_type vd)
	interface for property map that represents edge weights in the graph, where all edges have weight 1.
template<class G >
bool	vslam::isLandmakFeature (const G &g, const FeatureID< G > &fid)
	Test if given feature has landmark associated with it.
Variables
const int	vslam::BAD_INDEX = -1
	value for undefined array index.

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Detailed Description

Interface for Main Data Structure.

Contains necessary forward declarations for graph_builder.h, which should be included in code that wants to use Main Data Structure.

Definition in file pose_graph.h.