Struct MatchGraph 

pub struct MatchGraph { /* private fields */ }

Correspondence graph.

Implementations

impl MatchGraph

pub fn new() -> Self

Empty graph.

pub fn add_image(&mut self, image_id: ImageId, num_points2d: usize)

Adds a node (an empty correspondence list per 2D point). Ignored if it already exists.

pub fn exists_image(&self, image_id: ImageId) -> bool

Whether the image node exists.

pub fn num_images(&self) -> usize

Number of image nodes.

pub fn pair_count(&self) -> usize

Number of pairs.

pub fn image_ids(&self) -> Vec<ImageId>

List of image ids (ascending).

pub fn num_points2d(&self, image_id: ImageId) -> usize

Number of 2D points of the image.

pub fn observation_count_of(&self, image_id: ImageId) -> usize

Number of 2D points with at least one correspondence.

pub fn match_count_of(&self, image_id: ImageId) -> usize

Sum of match counts of the pairs the image belongs to.

pub fn match_count_between(&self, id1: ImageId, id2: ImageId) -> usize

Number of matches between two images.

pub fn exists_image_pair(&self, id1: ImageId, id2: ImageId) -> bool

Whether a pair exists between two images.

pub fn image_pairs(&self) -> Vec<(PairId, usize)>

(pair id, match count), ascending by pair id.

pub fn insert_two_view( &mut self, id1: ImageId, id2: ImageId, tvg: &TwoViewGeometry, ) -> AddPairStats

Adds a pair. Matches are (index in id1, index in id2). Both image nodes must exist (otherwise nothing happens). Geometry is stored in the smaller id -> larger id direction.

pub fn from_store(store: &FeatureStore, opts: &MatchGraphOptions) -> Self

Builds from a store.

pub fn update_from_store( &mut self, store: &FeatureStore, opts: &MatchGraphOptions, ) -> usize

Applies only the pairs newly recorded in the store (incremental). Also adds new image nodes if needed. Returns: the number of newly added pairs.

pub fn find_correspondences( &self, image_id: ImageId, point2d_idx: Point2DIdx, ) -> &[Correspondence]

Direct correspondences of (image, 2D point).

pub fn has_correspondences( &self, image_id: ImageId, point2d_idx: Point2DIdx, ) -> bool

Whether (image, 2D point) has a correspondence.

pub fn in_two_view_track( &self, image_id: ImageId, point2d_idx: Point2DIdx, ) -> bool

Two-view observation: exactly 1 correspondence and the other side also has exactly 1.

pub fn matches_between(&self, id1: ImageId, id2: ImageId) -> Vec<FeatureMatch>

Matches between two images: ascending by image 1 2D point.

pub fn transitive_matches( &self, image_id: ImageId, point2d_idx: Point2DIdx, depth: usize, ) -> Vec<Correspondence>

Transitive correspondences (breadth-first, depth t). The starting observation and already-seen observations are excluded.

pub fn two_view_geometry( &self, id1: ImageId, id2: ImageId, ) -> Option<TwoViewGeometry>

Two-view geometry in the (id1 -> id2) direction (inliers excluded).

pub fn replace_two_view( &mut self, id1: ImageId, id2: ImageId, tvg: &TwoViewGeometry, ) -> bool

Updates with the geometry in the (id1 -> id2) direction.

pub fn union_find_tracks<F>(&self, pair_filter: F) -> Vec<Vec<Correspondence>>

where F: Fn(ImageId, ImageId) -> bool,

Union-find tracks (connected components). Only pairs for which pair_filter(smaller id, larger id) is true are used. Each component is ascending by (image, point); the component list is ascending by first element. There are no length-1 components.

Trait Implementations

impl Clone for MatchGraph

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for MatchGraph

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for MatchGraph

fn default() -> Self

Returns the “default value” for a type.