gtsam 4.2.0
gtsam
DsfTrackGenerator.h File Reference

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. More...
 

Detailed Description

Identifies connected components in the keypoint matches graph.

Date
July 2022
Author
John Lambert

Function Documentation

◆ 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
Mapfrom (i1,i2) image pair indices to (K,2) matrix, for K correspondence indices, from each image.
Length-Nlist of keypoints, for N images/cameras.