gtsam 4.2.0
gtsam
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Identifies connected components in the keypoint matches graph. More...
Go to the source code of this file.
Classes | |
struct | gtsam::gtsfm::Keypoints |
Namespaces | |
namespace | gtsam |
Global functions in a separate testing namespace. | |
Typedefs | |
typedef Eigen::MatrixX2i | gtsam::gtsfm::CorrespondenceIndices |
using | gtsam::gtsfm::KeypointsVector = std::vector< Keypoints > |
using | gtsam::gtsfm::MatchIndicesMap = std::map< IndexPair, CorrespondenceIndices > |
Functions | |
std::vector< SfmTrack2d > | gtsam::gtsfm::tracksFromPairwiseMatches (const MatchIndicesMap &matches, const KeypointsVector &keypoints, bool verbose) |
Creates a list of tracks from 2d point correspondences. | |
Identifies connected components in the keypoint matches graph.
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).
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. |