Classes | |
struct | Keypoints |
Typedefs | |
typedef Eigen::MatrixX2i | CorrespondenceIndices |
typedef DSFMap< IndexPair > | DSFMapIndexPair |
using | KeypointsVector = std::vector< Keypoints > |
using | MatchIndicesMap = std::map< IndexPair, CorrespondenceIndices > |
Functions | |
static DSFMapIndexPair | generateDSF (const MatchIndicesMap &matches) |
Generate the DSF to form tracks. More... | |
static SfmTrack2d | trackFromIndexPairs (const std::set< IndexPair > &index_pair_set, const KeypointsVector &keypoints) |
Generate a single track from a set of index pairs. More... | |
static std::vector< SfmTrack2d > | tracksFromDSF (const DSFMapIndexPair &dsf, const KeypointsVector &keypoints) |
Generate tracks from the DSF. More... | |
std::vector< SfmTrack2d > | tracksFromPairwiseMatches (const MatchIndicesMap &matches, const KeypointsVector &keypoints, bool verbose) |
Creates a list of tracks from 2d point correspondences. More... | |
typedef Eigen::MatrixX2i gtsam::gtsfm::CorrespondenceIndices |
Definition at line 32 of file DsfTrackGenerator.h.
typedef DSFMap<IndexPair> gtsam::gtsfm::DSFMapIndexPair |
Definition at line 29 of file DsfTrackGenerator.cpp.
using gtsam::gtsfm::KeypointsVector = typedef std::vector<Keypoints> |
Definition at line 55 of file DsfTrackGenerator.h.
using gtsam::gtsfm::MatchIndicesMap = typedef std::map<IndexPair, CorrespondenceIndices> |
Definition at line 58 of file DsfTrackGenerator.h.
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static |
Generate the DSF to form tracks.
Definition at line 32 of file DsfTrackGenerator.cpp.
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static |
Generate a single track from a set of index pairs.
Definition at line 55 of file DsfTrackGenerator.cpp.
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Generate tracks from the DSF.
Definition at line 73 of file DsfTrackGenerator.cpp.
std::vector< SfmTrack2d > GTSAM_EXPORT gtsam::gtsfm::tracksFromPairwiseMatches | ( | const MatchIndicesMap & | matches, |
const KeypointsVector & | keypoints, | ||
bool | verbose | ||
) |
Creates a list of tracks from 2d point correspondences.
Creates a disjoint-set forest (DSF) and 2d tracks from pairwise matches. We create a singleton for union-find set elements from camera index of a detection and the index of that detection in that camera's keypoint list, i.e. (i,k).
Map | from (i1,i2) image pair indices to (K,2) matrix, for K correspondence indices, from each image. |
Length-N | list of keypoints, for N images/cameras. |
Definition at line 103 of file DsfTrackGenerator.cpp.