A storage component to store with persistence the visibility between keypoints and 3D points, and respectively, based on a bimap from boost. More...

#include <SolARBoostCovisibilityGraph.h>

Inheritance diagram for SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph:

[legend]

Collaboration diagram for SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph:

[legend]

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

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

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

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

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

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

FrameworkReturnCode	suppressNode (const uint32_t node_id) override
	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 override
	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) override
	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) override
	This method allow to get maximal spanning tree of the graph. More...

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

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

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

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

const SRef< datastructure::CovisibilityGraph > &	getConstCovisibilityGraph () const override
	This method returns the covisibility graph. More...

std::unique_lock< std::mutex >	getCovisibilityGraph (SRef< datastructure::CovisibilityGraph > &covisibilityGraph) override
	This method returns the covisibility graph. More...

void	setCovisibilityGraph (const SRef< datastructure::CovisibilityGraph > covisibilityGraph) override
	This method is to set the covisibility graph. More...

FrameworkReturnCode	clear ()
	This method clears the covisibility graph (deletes all nodes and edges).

bool	isNode (const uint32_t node_id) const
	This method tests if node_id exists in the covisibility graph. More...

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

FrameworkReturnCode	addEdge (const uint32_t node_id_1, const uint32_t node_id_2, const float weight)
	This method adds an edge to the covisibility graph. More...

void	unloadComponent () override final

Detailed Description

A storage component to store with persistence the visibility between keypoints and 3D points, and respectively, based on a bimap from boost.

Member Function Documentation

◆ addEdge()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::addEdge	(	const uint32_t	node_id_1,
		const uint32_t	node_id_2,
		const float	weight
	)

This method adds an edge to the covisibility graph.

Parameters

[in] id of the node to add

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

◆ addNode()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::addNode ( const uint32_t node_id )

This method allows to suppress a node of the graph.

Parameters

[in] id of the node to suppress

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

◆ decreaseEdge()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::decreaseEdge	(	const uint32_t	node1_id,
		const uint32_t	node2_id,
		const float	weight
	)

override

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 execution succeed, else FrameworkReturnCode::_ERROR.

◆ getAllNodes()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::getAllNodes ( std::set< uint32_t > & nodes_id ) const

override

This method allow to get all nodes of the graph.

Parameters

[out] ids of all nodes

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

◆ getConstCovisibilityGraph()

const SRef< datastructure::CovisibilityGraph > & SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::getConstCovisibilityGraph ( ) const

override

This method returns the covisibility graph.

Returns: the covisibility graph

◆ getCovisibilityGraph()

std::unique_lock< std::mutex > SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::getCovisibilityGraph ( SRef< datastructure::CovisibilityGraph > & covisibilityGraph )

override

This method returns the covisibility graph.

Parameters

[out] covisibilityGraph the covisibility graph of map

Returns: the covisibility graph

◆ getEdge()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::getEdge	(	const uint32_t	node1_id,
		const uint32_t	node2_id,
		float &	weight
	)		const

override

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 execution succeed, else FrameworkReturnCode::_ERROR.

◆ getNeighbors()

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

override

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::MODULES::TOOLS::SolARBoostCovisibilityGraph::getShortestPath	(	uint32_t	node1_id,
		uint32_t	node2_id,
		std::vector< uint32_t > &	path
	)

override

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 execution succeed, else FrameworkReturnCode::_ERROR.

◆ increaseEdge()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::increaseEdge	(	const uint32_t	node1_id,
		const uint32_t	node2_id,
		const float	weight
	)

override

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 execution succeed, else FrameworkReturnCode::_ERROR.

◆ isEdge()

bool SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::isEdge	(	const uint32_t	node1_id,
		const uint32_t	node2_id
	)		const

override

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

◆ isNode()

bool SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::isNode ( const uint32_t node_id ) const

This method tests if node_id exists in the covisibility graph.

Parameters

[in] id of the node to test

Returns: true if the node is present in the graph.

◆ loadFromFile()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::loadFromFile ( const std::string & file )

override

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

Parameters

[in] the file name

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

◆ maximalSpanningTree()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::maximalSpanningTree	(	std::vector< std::tuple< uint32_t, uint32_t, float > > &	edges_weights,
		float &	maxTotalWeights
	)

override

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 execution succeed, else FrameworkReturnCode::_ERROR.

◆ minimalSpanningTree()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::minimalSpanningTree	(	std::vector< std::tuple< uint32_t, uint32_t, float > > &	edges_weights,
		float &	minTotalWeights
	)

override

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 execution succeed, else FrameworkReturnCode::_ERROR.

◆ removeEdge()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::removeEdge	(	const uint32_t	node1_id,
		const uint32_t	node2_id
	)

override

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 execution succeed, else FrameworkReturnCode::_ERROR.

◆ saveToFile()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::saveToFile ( const std::string & file ) const

override

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

Parameters

[in] the file name

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

◆ setCovisibilityGraph()

void SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::setCovisibilityGraph ( const SRef< datastructure::CovisibilityGraph > covisibilityGraph )

override

This method is to set the covisibility graph.

Parameters

[in] covisibilityGraph the covisibility graph of map

◆ suppressNode()

FrameworkReturnCode SolAR::MODULES::TOOLS::SolARBoostCovisibilityGraph::suppressNode ( const uint32_t node_id )

override

This method allow to suppress a node of the graph.

Parameters

[in] id of the node to suppress

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

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

SolARModuleTools/interfaces/SolARBoostCovisibilityGraph.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ addEdge()

◆ addNode()

◆ decreaseEdge()

◆ getAllNodes()

◆ getConstCovisibilityGraph()

◆ getCovisibilityGraph()

◆ getEdge()

◆ getNeighbors()

◆ getShortestPath()

◆ increaseEdge()

◆ isEdge()

◆ isNode()

◆ loadFromFile()

◆ maximalSpanningTree()

◆ minimalSpanningTree()

◆ removeEdge()

◆ saveToFile()

◆ setCovisibilityGraph()

◆ suppressNode()