A covisibility graph of keyframes. This class provides a covisibility graph where each vertex is an id of a keyframe and each edge is weighted by the number of common cloud points between two keyframes. More...

#include <CovisibilityGraph.h>

Inheritance diagram for SolAR::datastructure::CovisibilityGraph:

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Collaboration diagram for SolAR::datastructure::CovisibilityGraph:

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Public Member Functions
	CovisibilityGraph ()=default
	CovisibilityGraph constructor.

	CovisibilityGraph (const CovisibilityGraph &other)=default

CovisibilityGraph &	operator= (const CovisibilityGraph &other)=default

	~CovisibilityGraph ()=default
	~CovisibilityGraph

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

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

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

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

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

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

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

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

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

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

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

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

template<typename Archive >
void	serialize (Archive &ar, ATTRIBUTE(maybe_unused) const unsigned int version)

Public Member Functions inherited from SolAR::datastructure::Lockable
	Lockable ()=default
	LockableCollection constructor.

std::unique_lock< std::mutex >	acquireLock ()
	This method returns the point cloud. More...

void	lock ()

void	unlock ()

bool	tryLock ()

Friends
class	boost::serialization::access

Detailed Description

A covisibility graph of keyframes. This class provides a covisibility graph where each vertex is an id of a keyframe and each edge is weighted by the number of common cloud points between two keyframes.

Member Function Documentation

◆ decreaseEdge()

FrameworkReturnCode SolAR::datastructure::CovisibilityGraph::decreaseEdge	(	uint32_t	node1_id,
		uint32_t	node2_id,
		float	weight
	)

This method allow to decrease edge between 2 nodes.

Parameters

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

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

◆ getAllNodes()

FrameworkReturnCode SolAR::datastructure::CovisibilityGraph::getAllNodes ( std::set< uint32_t > & nodes_id ) const

This method allow to get all nodes of the graph.

Parameters

[out] ids of all nodes

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

◆ getEdge()

FrameworkReturnCode SolAR::datastructure::CovisibilityGraph::getEdge	(	uint32_t	node1_id,
		uint32_t	node2_id,
		float &	weight
	)		const

This method allow to get edge between 2 nodes.

Parameters

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

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

◆ getNeighbors()

FrameworkReturnCode SolAR::datastructure::CovisibilityGraph::getNeighbors	(	const uint32_t	node_id,
		const float	minWeight,
		std::vector< uint32_t > &	neighbors,
		const uint32_t	maxNbNeighbors = `0`
	)		const

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.
[in]	maxNbNeighbors	the maximum number of neighbors. If it is zero, find all neighbors.

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

◆ getShortestPath()

FrameworkReturnCode SolAR::datastructure::CovisibilityGraph::getShortestPath	(	const uint32_t	node1_id,
		const uint32_t	node2_id,
		std::vector< uint32_t > &	path
	)

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

Parameters

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

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

◆ increaseEdge()

FrameworkReturnCode SolAR::datastructure::CovisibilityGraph::increaseEdge	(	uint32_t	node1_id,
		uint32_t	node2_id,
		float	weight
	)

This method allow to increase edge between 2 nodes.

Parameters

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

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

◆ isEdge()

bool SolAR::datastructure::CovisibilityGraph::isEdge	(	const uint32_t	node1_id,
		const uint32_t	node2_id
	)		const

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

Parameters

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

Returns: true if exist, else false

◆ maximalSpanningTree()

FrameworkReturnCode SolAR::datastructure::CovisibilityGraph::maximalSpanningTree	(	std::vector< std::tuple< uint32_t, uint32_t, float > > &	edges_weights,
		float &	maxTotalWeights
	)

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()

FrameworkReturnCode SolAR::datastructure::CovisibilityGraph::minimalSpanningTree	(	std::vector< std::tuple< uint32_t, uint32_t, float > > &	edges_weights,
		float &	minTotalWeights
	)

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()

FrameworkReturnCode SolAR::datastructure::CovisibilityGraph::removeEdge	(	uint32_t	node1_id,
		uint32_t	node2_id
	)

This method allow to remove an edge between 2 nodes.

Parameters

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

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

◆ suppressNode()

FrameworkReturnCode SolAR::datastructure::CovisibilityGraph::suppressNode ( const uint32_t node_id )

This method allow to suppress a node of the graph.

Parameters

[in] 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 files:

interfaces/datastructure/CovisibilityGraph.h
src/datastructure/CovisibilityGraph.cpp

Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ decreaseEdge()

◆ getAllNodes()

◆ getEdge()

◆ getNeighbors()

◆ getShortestPath()

◆ increaseEdge()

◆ isEdge()

◆ maximalSpanningTree()

◆ minimalSpanningTree()

◆ removeEdge()

◆ suppressNode()