A storage component to store 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.
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FrameworkReturnCode | increaseEdge (uint32_t node1_id, uint32_t node2_id, float weight) override |
| This method allow to increase edge between 2 nodes. More...
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FrameworkReturnCode | decreaseEdge (uint32_t node1_id, uint32_t node2_id, float weight) override |
| This method allow to decrease edge between 2 nodes. More...
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FrameworkReturnCode | removeEdge (uint32_t node1_id, uint32_t node2_id) override |
| This method allow to remove an edge between 2 nodes. More...
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FrameworkReturnCode | getEdge (uint32_t node1_id, uint32_t node2_id, float &weight) const override |
| This method allow to get edge between 2 nodes. More...
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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...
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FrameworkReturnCode | getAllNodes (std::set< uint32_t > &nodes_id) const override |
| This method allow to get all nodes of the graph. More...
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FrameworkReturnCode | suppressNode (const uint32_t node_id) override |
| This method allow to suppress a node of the graph. More...
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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...
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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...
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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...
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FrameworkReturnCode | getShortestPath (const uint32_t node1_id, const 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...
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FrameworkReturnCode | display () const override |
| This method allow to display all vertices and weighted edges of the covisibility graph.
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FrameworkReturnCode | saveToFile (const std::string &file) const override |
| This method allows to save the graph to the external file. More...
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FrameworkReturnCode | loadFromFile (const std::string &file) override |
| This method allows to load the graph from the external file. More...
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const SRef< SolAR::datastructure::CovisibilityGraph > & | getConstCovisibilityGraph () const override |
| This method returns the covisibility graph. More...
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std::unique_lock< std::mutex > | getCovisibilityGraph (SRef< SolAR::datastructure::CovisibilityGraph > &covisibilityGraph) override |
| This method returns the covisibility graph. More...
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void | setCovisibilityGraph (const SRef< SolAR::datastructure::CovisibilityGraph > covisibilityGraph) override |
| This method is to set the covisibility graph. More...
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void | unloadComponent () override final |
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A storage component to store 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.