gtsam::gtsfm Namespace Reference

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 Documentation

CorrespondenceIndices

typedef Eigen::MatrixX2i gtsam::gtsfm::CorrespondenceIndices

Definition at line 32 of file DsfTrackGenerator.h.

DSFMapIndexPair

typedef DSFMap<IndexPair> gtsam::gtsfm::DSFMapIndexPair

Definition at line 29 of file DsfTrackGenerator.cpp.

KeypointsVector

using gtsam::gtsfm::KeypointsVector = typedef std::vector<Keypoints>

Definition at line 55 of file DsfTrackGenerator.h.

MatchIndicesMap

using gtsam::gtsfm::MatchIndicesMap = typedef std::map<IndexPair, CorrespondenceIndices>

Definition at line 58 of file DsfTrackGenerator.h.

Function Documentation

generateDSF()

static DSFMapIndexPair gtsam::gtsfm::generateDSF ( const MatchIndicesMap &  matches )

static

Generate the DSF to form tracks.

Definition at line 32 of file DsfTrackGenerator.cpp.

trackFromIndexPairs()

static SfmTrack2d gtsam::gtsfm::trackFromIndexPairs ( const std::set< IndexPair > &  index_pair_set, const KeypointsVector &  keypoints  )

static

Generate a single track from a set of index pairs.

Definition at line 55 of file DsfTrackGenerator.cpp.

tracksFromDSF()

static std::vector<SfmTrack2d> gtsam::gtsfm::tracksFromDSF ( const DSFMapIndexPair &  dsf, const KeypointsVector &  keypoints  )

static

Generate tracks from the DSF.

Definition at line 73 of file DsfTrackGenerator.cpp.

tracksFromPairwiseMatches()

std::vector< SfmTrack2d > 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).

Parameters

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.