Struct FeatureStore 

pub struct FeatureStore { /* private fields */ }

In-memory feature store.

Implementations

impl FeatureStore

pub fn new() -> Self

Empty store.

pub fn add_camera(&self, camera: Camera) -> Result<CameraId>

Adds a camera. If camera_id is the invalid value, issues “max id + 1” (1 for an empty store).

pub fn update_camera(&self, camera: Camera) -> Result<()>

Overwrites an existing camera (error if absent).

pub fn camera(&self, id: CameraId) -> Option<Camera>

Camera lookup (copy).

pub fn cameras(&self) -> Vec<Camera>

All cameras (in id order).

pub fn num_cameras(&self) -> usize

Number of cameras.

pub fn add_image(&self, name: &str, camera_id: CameraId) -> Result<ImageId>

Adds an image (name unique, camera must exist). The id is “max id + 1” (1 for an empty store).

pub fn add_image_with_id( &self, image_id: ImageId, name: &str, camera_id: CameraId, ) -> Result<ImageId>

Adds an image with the given id.

pub fn image(&self, id: ImageId) -> Option<StoreImage>

Image lookup.

pub fn image_id_by_name(&self, name: &str) -> Option<ImageId>

Name -> image id.

pub fn image_by_name(&self, name: &str) -> Option<StoreImage>

Looks up an image by name.

pub fn images(&self) -> Vec<StoreImage>

All images (ascending by id).

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

List of image ids (ascending).

pub fn num_images(&self) -> usize

Number of images.

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

Whether the image exists.

pub fn set_pose_prior(&self, image_id: ImageId, prior: PosePrior)

Sets the image prior position.

pub fn pose_prior(&self, image_id: ImageId) -> Option<PosePrior>

Gets the image prior position.

pub fn set_keypoints(&self, image_id: ImageId, kps: Vec<Keypoint>)

Writes keypoints (overwrites).

pub fn set_descriptors(&self, image_id: ImageId, d: Descriptors)

Writes descriptors (overwrites).

pub fn keypoints(&self, image_id: ImageId) -> Option<Arc<Vec<Keypoint>>>

Keypoint lookup (shared).

pub fn descriptors(&self, image_id: ImageId) -> Option<Arc<Descriptors>>

Descriptor lookup (shared).

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

Whether keypoints exist.

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

Whether descriptors exist.

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

Number of keypoints of the image (0 if absent).

pub fn largest_keypoint_count(&self) -> usize

Maximum of the per-image keypoint counts.

pub fn write_matches( &self, id1: ImageId, id2: ImageId, matches: &[FeatureMatch], ) -> Result<()>

Writes raw matches (overwrites). Takes index pairs in (id1, id2) order.

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

Raw match lookup in the (id1, id2) direction.

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

Whether raw matches exist.

pub fn delete_matches(&self, id1: ImageId, id2: ImageId)

Deletes raw matches.

pub fn put_two_view( &self, id1: ImageId, id2: ImageId, tvg: &TwoViewGeometry, ) -> Result<()>

Writes two-view geometry (overwrites). Takes geometry in the (id1 -> id2) direction.

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

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

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

Whether two-view geometry exists.

pub fn remove_two_view(&self, id1: ImageId, id2: ImageId)

Deletes two-view geometry.

pub fn two_view_geometries(&self) -> Vec<(PairId, Arc<TwoViewGeometry>)>

All stored two-view geometries (ascending by pair id, stored direction = smaller id -> larger id).

pub fn two_view_geometries_since( &self, since: usize, ) -> (Vec<(PairId, Arc<TwoViewGeometry>)>, usize)

Pairs recorded after log position since and the new log position. For incremental correspondence graph updates.

pub fn num_two_view_geometries(&self) -> usize

Number of stored two-view geometries.

pub fn num_matched_pairs(&self) -> usize

Number of pairs with stored raw matches.

pub fn retain_copy(&self, keep: impl Fn(&StoreImage) -> bool) -> FeatureStore

New store keeping only images for which keep is true. All cameras, image ids, pair data and geometry record order are kept as is. Large data (keypoints, descriptors, matches, geometry) are shared via Arc, so copying is cheap. For rewinding in incremental processing.

pub fn save(&self, path: impl AsRef<Path>) -> Result<()>

Saves in the own binary format (little-endian).

pub fn load(path: impl AsRef<Path>) -> Result<Self>

Reads the save format.

Trait Implementations

impl Default for FeatureStore

fn default() -> Self

Returns the “default value” for a type.