DsfTrackGenerator.h File Reference

Identifies connected components in the keypoint matches graph. More...

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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.

Detailed Description

Identifies connected components in the keypoint matches graph.

Date

July 2022

Author

John Lambert

Function Documentation

tracksFromPairwiseMatches()

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).

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.