// Copyright (c) 2010, 2011 libmv authors.
//
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// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
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#ifndef LIBMV_SIMPLE_PIPELINE_KEYFRAME_SELECTION_H_
#define LIBMV_SIMPLE_PIPELINE_KEYFRAME_SELECTION_H_

#include "libmv/base/vector.h"
#include "libmv/simple_pipeline/tracks.h"
#include "libmv/simple_pipeline/camera_intrinsics.h"

namespace libmv {

// Get list of all images which are good enough to be as keyframes from
// camera reconstruction. Based on GRIC criteria and uses Pollefeys'
// approach for correspondence ratio constraint.
//
// As an additional, additional criteria based on reconstruction
// variance is used. This means if correspondence and GRIC criteria
// are passed, two-frames reconstruction using candidate keyframes
// happens. After reconstruction variance of 3D points is calculating
// and if expected error estimation is too large, keyframe candidate
// is rejecting.
//
// \param tracks: contains all tracked correspondences between frames
//        expected to be undistorted and normalized.
// \param intrinsics: is camera intrinsics.
// \param keyframes: will contain all images number which are considered
//        good to be used for reconstruction.
void SelectKeyframesBasedOnGRICAndVariance(
    const Tracks &tracks,
    const CameraIntrinsics &intrinsics,
    vector<int> &keyframes);

}  // namespace libmv

#endif  // LIBMV_SIMPLE_PIPELINE_KEYFRAME_SELECTION_H_