Class GraphUtils

• Defined in File graph_utils.hpp

Class Documentation

class GraphUtils

Public Functions

inline GraphUtils()

Public Static Functions

static void copy_graph(const std::shared_ptr<GraphSLAM> &covisibility_graph, std::unique_ptr<GraphSLAM> &compressed_graph, const std::map<int, KeyFrame::Ptr> &keyframes)

Parameters:

• covisibility_graph –

• compressed_graph –

Returns:

* void

static void copy_graph_vertices(const std::shared_ptr<GraphSLAM> &covisibility_graph, const std::unique_ptr<GraphSLAM> &compressed_graph)

Parameters:

• covisibility_graph –

• compressed_graph –

static std::vector<g2o::VertexSE3*> copy_graph_edges(const std::shared_ptr<GraphSLAM> &covisibility_graph, const std::unique_ptr<GraphSLAM> &compressed_graph)

Parameters:

• covisibility_graph –

• compressed_graph –

Returns:

* std::vector<g2o::VertexSE3*>

static void copy_windowed_graph(const int window_size, const std::shared_ptr<GraphSLAM> &covisibility_graph, const std::unique_ptr<GraphSLAM> &compressed_graph, const std::map<int, KeyFrame::Ptr> &keyframes)

Parameters:

• window_size –

• covisibility_graph –

• compressed_graph –

• keyframes –

Returns:

* void

static int copy_keyframes_to_graph(const std::shared_ptr<GraphSLAM> &covisibility_graph, const std::unique_ptr<GraphSLAM> &compressed_graph, const std::map<int, KeyFrame::Ptr> &keyframe_window)

Parameters:

• covisibility_graph –

• compressed_graph –

• keyframe_window –

Returns:

* int min_keyframe_id

static std::vector<g2o::VertexSE3*> connect_keyframes(const std::shared_ptr<GraphSLAM> &covisibility_graph, const std::unique_ptr<GraphSLAM> &compressed_graph, const std::map<int, KeyFrame::Ptr> &complete_keyframe_window, bool &anchor_node_exists)

Parameters:

• covisibility_graph –

• compressed_graph –

• complete_keyframe_window –

Returns:

* std::vector<g2o::VertexSE3*>

static std::unordered_set<g2o::VertexSE3*> connect_keyframes_planes(const std::shared_ptr<GraphSLAM> &covisibility_graph, GraphSLAM *compressed_graph)

Parameters:

• covisibility_graph –

• compressed_graph –

Returns:

* std::unordered_set<g2o::VertexSE3*>

static void connect_broken_keyframes(std::vector<g2o::VertexSE3*> filtered_k_vec, const std::shared_ptr<GraphSLAM> &covisibility_graph, const std::unique_ptr<GraphSLAM> &compressed_graph, const std::map<int, KeyFrame::Ptr> &keyframes)

Parameters:

• filtered_k_vec –

• covisibility_graph –

• compressed_graph –

• keyframes –

Returns:

* void

static void fix_and_connect_keyframes(GraphSLAM *compressed_graph, const std::unordered_set<g2o::VertexSE3*> &fixed_keyframes_set)

Parameters:

• compressed_graph –

• fixed_keyframes_set –

static void connect_planes_rooms(const std::shared_ptr<GraphSLAM> &covisibility_graph, GraphSLAM *compressed_graph)

Parameters:

• covisibility_graph –

• compressed_graph –

Returns:

* void

static void connect_rooms_floors(const std::shared_ptr<GraphSLAM> &covisibility_graph, GraphSLAM *compressed_graph)

Parameters:

• covisibility_graph –

• compressed_graph –

Returns:

* void

static void update_graph(const std::unique_ptr<GraphSLAM> &compressed_graph, std::map<int, KeyFrame::Ptr> keyframes, std::unordered_map<int, VerticalPlanes> &x_vert_planes, std::unordered_map<int, VerticalPlanes> &y_vert_planes, std::unordered_map<int, Rooms> &rooms_vec, std::unordered_map<int, InfiniteRooms> &x_infinite_rooms, std::unordered_map<int, InfiniteRooms> &y_infinite_rooms, std::unordered_map<int, Floors> &floors_vec)

Parameters:

• compressed_graph –

• keyframes –

• x_vert_planes –

• y_vert_planes –

• rooms_vec –

• x_infinite_rooms –

• y_infinite_rooms –

• floors_vec –

static void set_marginalize_info(const std::shared_ptr<GraphSLAM> &local_graph, const std::shared_ptr<GraphSLAM> &covisibility_graph, const std::map<int, KeyFrame::Ptr> &room_keyframes)

Set the marginalize info object.

Parameters:

• local_graph –

• covisibility_graph –

• room_keyframes –

Returns:

* void

static bool get_keyframe_marg_data(g2o::VertexSE3 *vertex_se3)

Parameters:

vertex_se3 –

Returns:

true

Returns:

false