Allows to store the covisibility graph between keyframes. This storage component can be accessed by processing components to share persistent data. UUID: 15455f5a-0e99-49e5-a3fb-39de3eeb5b9b More...

#include <ICovisibilityGraph.h>

Inheritance diagram for SolAR::api::storage::ICovisibilityGraph:

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Collaboration diagram for SolAR::api::storage::ICovisibilityGraph:

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Public Member Functions
	ICovisibilityGraph ()=default
	ICovisibilityGraph default constructor.

virtual	~ICovisibilityGraph ()=default
	ICovisibilityGraph default destructor.

virtual FrameworkReturnCode	increaseEdge (const uint32_t node1_id, const uint32_t node2_id, const float weight)=0
	This method allow to increase edge between 2 nodes. More...

virtual FrameworkReturnCode	decreaseEdge (const uint32_t node1_id, const uint32_t node2_id, const float weight)=0
	This method allow to decrease edge between 2 nodes. More...

virtual FrameworkReturnCode	removeEdge (const uint32_t node1_id, const uint32_t node2_id)=0
	This method allow to remove an edge between 2 nodes. More...

virtual FrameworkReturnCode	getEdge (uint32_t node1_id, uint32_t node2_id, float &weight) const =0
	This method allow to get edge between 2 nodes. More...

virtual bool	isEdge (const uint32_t node1_id, const uint32_t node2_id) const =0
	This method allow to verify that exist an edge between 2 nodes. More...

virtual FrameworkReturnCode	getAllNodes (std::set< uint32_t > &nodes_id) const =0
	This method allow to get all nodes of the graph. More...

virtual FrameworkReturnCode	suppressNode (const uint32_t node_id)=0
	This method allow to suppress a node of the graph. More...

virtual FrameworkReturnCode	getNeighbors (const uint32_t node_id, const float minWeight, std::vector< uint32_t > &neighbors) const =0
	This method allow to get neighbors of a node in the graph. More...

virtual FrameworkReturnCode	minimalSpanningTree (std::vector< std::tuple< uint32_t, uint32_t, float >> &edges_weights, float &minTotalWeights)=0
	This method allow to get minimal spanning tree of the graph. More...

virtual FrameworkReturnCode	maximalSpanningTree (std::vector< std::tuple< uint32_t, uint32_t, float >> &edges_weights, float &maxTotalWeights)=0
	This method allow to get maximal spanning tree of the graph. More...

virtual FrameworkReturnCode	getShortestPath (uint32_t node1_id, uint32_t node2_id, std::vector< uint32_t > &path)=0
	This method allow to get the shortest (by number of vertices) path between 2 nodes. More...

virtual FrameworkReturnCode	display () const =0
	This method allow to display all vertices and weighted edges of the covisibility graph.

virtual FrameworkReturnCode	saveToFile (const std::string &file) const =0
	This method allows to save the graph to the external file. More...

virtual FrameworkReturnCode	loadFromFile (const std::string &file)=0
	This method allows to load the graph from the external file. More...

Detailed Description

Allows to store the covisibility graph between keyframes. This storage component can be accessed by processing components to share persistent data. UUID: 15455f5a-0e99-49e5-a3fb-39de3eeb5b9b

Member Function Documentation

◆ decreaseEdge()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::decreaseEdge	(	const uint32_t	node1_id,
		const uint32_t	node2_id,
		const float	weight
	)

pure virtual

This method allow to decrease edge between 2 nodes.

Parameters

[in]	node1_id	id of 1st node
[in]	node2_id	id of 2nd node
[in]	weight	weight to decrease

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ getAllNodes()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::getAllNodes ( std::set< uint32_t > & nodes_id ) const

pure virtual

This method allow to get all nodes of the graph.

Parameters

[out] nodes_id ids of all nodes

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ getEdge()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::getEdge	(	uint32_t	node1_id,
		uint32_t	node2_id,
		float &	weight
	)		const

pure virtual

This method allow to get edge between 2 nodes.

Parameters

[in]	node1_id	id of 1st node
[in]	node2_id	id of 2nd node
[out]	weight	weight of the edge

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ getNeighbors()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::getNeighbors	(	const uint32_t	node_id,
		const float	minWeight,
		std::vector< uint32_t > &	neighbors
	)		const

pure virtual

This method allow to get neighbors of a node in the graph.

Parameters

[in]	node_id	id of the node to get neighbors
[in]	minWeight	min value between this node and a neighbor to accept
[out]	neighbors	a vector of neighbors sorted to greater weighted edge.

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ getShortestPath()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::getShortestPath	(	uint32_t	node1_id,
		uint32_t	node2_id,
		std::vector< uint32_t > &	path
	)

pure virtual

This method allow to get the shortest (by number of vertices) path between 2 nodes.

Parameters

[in]	node1_id	id of 1st node
[in]	node2_id	id of 2nd node
[out]	path	the shortest path

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ increaseEdge()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::increaseEdge	(	const uint32_t	node1_id,
		const uint32_t	node2_id,
		const float	weight
	)

pure virtual

This method allow to increase edge between 2 nodes.

Parameters

[in]	node1_id	id of 1st node
[in]	node2_id	id of 2nd node
[in]	weight	weight to increase

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ isEdge()

virtual bool SolAR::api::storage::ICovisibilityGraph::isEdge	(	const uint32_t	node1_id,
		const uint32_t	node2_id
	)		const

pure virtual

This method allow to verify that exist an edge between 2 nodes.

Parameters

[in]	node1_id	id of 1st node
[in]	node2_id	id of 2nd node

Returns: true if exist, else false

◆ loadFromFile()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::loadFromFile ( const std::string & file )

pure virtual

This method allows to load the graph from the external file.

Parameters

[in] file the file name

Returns: FrameworkReturnCode::SUCCESS if the suppression succeed, else FrameworkReturnCode::_ERROR.

◆ maximalSpanningTree()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::maximalSpanningTree	(	std::vector< std::tuple< uint32_t, uint32_t, float >> &	edges_weights,
		float &	maxTotalWeights
	)

pure virtual

This method allow to get maximal spanning tree of the graph.

Parameters

[out]	edges_weights	the maximal spanning tree graph including edges with weights
[out]	maxTotalWeights	cost of the maximal spanning tree graph

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ minimalSpanningTree()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::minimalSpanningTree	(	std::vector< std::tuple< uint32_t, uint32_t, float >> &	edges_weights,
		float &	minTotalWeights
	)

pure virtual

This method allow to get minimal spanning tree of the graph.

Parameters

[out]	edges_weights	the minimal spanning tree graph including edges with weights
[out]	minTotalWeights	cost of the minimal spanning tree graph

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ removeEdge()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::removeEdge	(	const uint32_t	node1_id,
		const uint32_t	node2_id
	)

pure virtual

This method allow to remove an edge between 2 nodes.

Parameters

[in]	node1_id	id of 1st node
[in]	node2_id	id of 2nd node

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ saveToFile()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::saveToFile ( const std::string & file ) const

pure virtual

This method allows to save the graph to the external file.

Parameters

[in] file the file name

Returns: FrameworkReturnCode::SUCCESS if the suppression succeed, else FrameworkReturnCode::_ERROR.

◆ suppressNode()

virtual FrameworkReturnCode SolAR::api::storage::ICovisibilityGraph::suppressNode ( const uint32_t node_id )

pure virtual

This method allow to suppress a node of the graph.

Parameters

[in] node_id id of the node to suppress

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

The documentation for this class was generated from the following file:

interfaces/api/storage/ICovisibilityGraph.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ decreaseEdge()

◆ getAllNodes()

◆ getEdge()

◆ getNeighbors()

◆ getShortestPath()

◆ increaseEdge()

◆ isEdge()

◆ loadFromFile()

◆ maximalSpanningTree()

◆ minimalSpanningTree()

◆ removeEdge()

◆ saveToFile()

◆ suppressNode()